Public Member Functions

pcl::ProgressiveSampleConsensus< PointT > Class Template Reference
[Module sample_consensus]

RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. More...

#include <pcl/sample_consensus/prosac.h>

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List of all members.

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.

Detailed Description

template<typename PointT>
class pcl::ProgressiveSampleConsensus< PointT >

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

Definition at line 54 of file prosac.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::ProgressiveSampleConsensus< PointT >::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.

template<typename PointT >
pcl::ProgressiveSampleConsensus< PointT >::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

template<typename PointT >
bool pcl::ProgressiveSampleConsensus< PointT >::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.

template<typename PointT >
void pcl::ProgressiveSampleConsensus< PointT >::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 >.


The documentation for this class was generated from the following files: