RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O.
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#include <pcl/sample_consensus/prosac.h>
List of all members.
Public Types |
typedef boost::shared_ptr
< SampleConsensus > | Ptr |
typedef boost::shared_ptr
< const SampleConsensus > | ConstPtr |
Public Member Functions |
| ProgressiveSampleConsensus (const SampleConsensusModelPtr &model) |
| PROSAC (Progressive SAmple Consensus) main constructor.
|
| ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold) |
| PROSAC (Progressive SAmple Consensus) main constructor.
|
bool | computeModel (int debug_verbosity_level=0) |
| Compute the actual model and find the inliers.
|
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.
|
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.
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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 | getModel (std::vector< int > &model) |
| Return the best model found so far.
|
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
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O.
and Matas, J.G., CVPR, I: 220-226 2005.
- Author:
- Vincent Rabaud
Member Typedef Documentation
Definition at line 63 of file sac.h.
Definition at line 59 of file sac.h.
Constructor & Destructor Documentation
pcl::ProgressiveSampleConsensus::ProgressiveSampleConsensus |
( |
const SampleConsensusModelPtr & |
model | ) |
[inline] |
PROSAC (Progressive SAmple Consensus) main constructor.
- Parameters:
-
model | a Sample Consensus model |
Definition at line 71 of file prosac.h.
pcl::ProgressiveSampleConsensus::ProgressiveSampleConsensus |
( |
const SampleConsensusModelPtr & |
model, |
|
|
double |
threshold |
|
) |
| [inline] |
PROSAC (Progressive SAmple Consensus) main constructor.
- Parameters:
-
model | a Sample Consensus model |
threshold | distance to model threshold |
Definition at line 82 of file prosac.h.
Member Function Documentation
bool pcl::ProgressiveSampleConsensus::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 47 of file prosac.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.
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::ProgressiveSampleConsensus::getRandomSamples |
( |
const boost::shared_ptr< std::vector< int > > & |
indices, |
|
|
size_t |
nr_samples, |
|
|
std::set< int > & |
indices_subset |
|
) |
| [inline] |
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 from pcl::SampleConsensus< PointT >.
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::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/prosac.h
- /builddir/build/BUILD/PCL-1.3.1-Source/sample_consensus/include/pcl/sample_consensus/impl/prosac.hpp