RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple Consensus), as described in "Randomized RANSAC with Td,d test", O.
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#include <pcl/sample_consensus/rransac.h>
List of all members.
Public Types |
typedef boost::shared_ptr
< SampleConsensus > | Ptr |
typedef boost::shared_ptr
< const SampleConsensus > | ConstPtr |
Public Member Functions |
| RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model) |
| RANSAC (Randomized RAndom SAmple Consensus) main constructor.
|
| RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) |
| RRANSAC (RAndom SAmple Consensus) main constructor.
|
bool | computeModel (int debug_verbosity_level=0) |
| Compute the actual model and find the inliers.
|
void | setFractionNrPretest (double nr_pretest) |
| Set the percentage of points to pre-test.
|
double | getFractionNrPretest () |
| Get the percentage of points to pre-test.
|
void | setDistanceThreshold (double threshold) |
| Set the distance to model threshold.
|
double | getDistanceThreshold () |
| Get the distance to model threshold, as set by the user.
|
void | setMaxIterations (int max_iterations) |
| Set the maximum number of iterations.
|
int | getMaxIterations () |
| Get the maximum number of iterations, as set by the user.
|
void | setProbability (double probability) |
| Set the desired probability of choosing at least one sample free from outliers.
|
double | getProbability () |
| Obtain the probability of choosing at least one sample free from outliers, as set by the user.
|
void | getRandomSamples (const boost::shared_ptr< std::vector< int > > &indices, size_t nr_samples, std::set< int > &indices_subset) |
| Get a set of randomly selected indices.
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void | getModel (std::vector< int > &model) |
| Return the best model found so far.
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void | getInliers (std::vector< int > &inliers) |
| Return the best set of inliers found so far for this model.
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void | getModelCoefficients (Eigen::VectorXf &model_coefficients) |
| Return the model coefficients of the best model found so far.
|
Detailed Description
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple Consensus), as described in "Randomized RANSAC with Td,d test", O.
Chum and J. Matas, Proc. British Machine Vision Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
- Note:
- RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
- Author:
- Radu Bogdan Rusu
Member Typedef Documentation
Definition at line 63 of file sac.h.
Definition at line 59 of file sac.h.
Constructor & Destructor Documentation
pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus |
( |
const SampleConsensusModelPtr & |
model | ) |
[inline] |
RANSAC (Randomized RAndom SAmple Consensus) main constructor.
- Parameters:
-
model | a Sample Consensus model |
Definition at line 72 of file rransac.h.
pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus |
( |
const SampleConsensusModelPtr & |
model, |
|
|
double |
threshold |
|
) |
| [inline] |
RRANSAC (RAndom SAmple Consensus) main constructor.
- Parameters:
-
model | a Sample Consensus model |
threshold | distance to model threshold |
Definition at line 83 of file rransac.h.
Member Function Documentation
bool pcl::RandomizedRandomSampleConsensus::computeModel |
( |
int |
debug_verbosity_level = 0 | ) |
[virtual] |
Compute the actual model and find the inliers.
- Parameters:
-
debug_verbosity_level | enable/disable on-screen debug information and set the verbosity level |
Implements pcl::SampleConsensus< PointT >.
Definition at line 45 of file rransac.hpp.
double pcl::SampleConsensus::getDistanceThreshold |
( |
| ) |
[inline, inherited] |
Get the distance to model threshold, as set by the user.
Definition at line 91 of file sac.h.
double pcl::RandomizedRandomSampleConsensus::getFractionNrPretest |
( |
| ) |
[inline] |
Get the percentage of points to pre-test.
Definition at line 101 of file rransac.h.
void pcl::SampleConsensus::getInliers |
( |
std::vector< int > & |
inliers | ) |
[inline, inherited] |
Return the best set of inliers found so far for this model.
- Parameters:
-
inliers | the resultant set of inliers |
Definition at line 136 of file sac.h.
int pcl::SampleConsensus::getMaxIterations |
( |
| ) |
[inline, inherited] |
Get the maximum number of iterations, as set by the user.
Definition at line 99 of file sac.h.
void pcl::SampleConsensus::getModel |
( |
std::vector< int > & |
model | ) |
[inline, inherited] |
Return the best model found so far.
- Parameters:
-
Definition at line 131 of file sac.h.
void pcl::SampleConsensus::getModelCoefficients |
( |
Eigen::VectorXf & |
model_coefficients | ) |
[inline, inherited] |
Return the model coefficients of the best model found so far.
- Parameters:
-
model_coefficients | the resultant model coefficients |
Definition at line 141 of file sac.h.
double pcl::SampleConsensus::getProbability |
( |
| ) |
[inline, inherited] |
Obtain the probability of choosing at least one sample free from outliers, as set by the user.
Definition at line 108 of file sac.h.
void pcl::SampleConsensus::getRandomSamples |
( |
const boost::shared_ptr< std::vector< int > > & |
indices, |
|
|
size_t |
nr_samples, |
|
|
std::set< int > & |
indices_subset |
|
) |
| [inline, inherited] |
Get a set of randomly selected indices.
- Parameters:
-
indices | the input indices vector |
nr_samples | the desired number of point indices to randomly select |
indices_subset | the resultant output set of randomly selected indices |
Reimplemented in pcl::ProgressiveSampleConsensus.
Definition at line 119 of file sac.h.
void pcl::SampleConsensus::setDistanceThreshold |
( |
double |
threshold | ) |
[inline, inherited] |
Set the distance to model threshold.
- Parameters:
-
threshold | distance to model threshold |
Definition at line 88 of file sac.h.
void pcl::RandomizedRandomSampleConsensus::setFractionNrPretest |
( |
double |
nr_pretest | ) |
[inline] |
Set the percentage of points to pre-test.
- Parameters:
-
nr_pretest | percentage of points to pre-test |
Definition at line 98 of file rransac.h.
void pcl::SampleConsensus::setMaxIterations |
( |
int |
max_iterations | ) |
[inline, inherited] |
Set the maximum number of iterations.
- Parameters:
-
max_iterations | maximum number of iterations |
Definition at line 96 of file sac.h.
void pcl::SampleConsensus::setProbability |
( |
double |
probability | ) |
[inline, inherited] |
Set the desired probability of choosing at least one sample free from outliers.
- Parameters:
-
probability | the desired probability of choosing at least one sample free from outliers |
- Note:
- internally, the probability is set to 99% (0.99) by default.
Definition at line 105 of file sac.h.
The documentation for this class was generated from the following files:
- /builddir/build/BUILD/PCL-1.3.1-Source/sample_consensus/include/pcl/sample_consensus/rransac.h
- /builddir/build/BUILD/PCL-1.3.1-Source/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp