Point Cloud Library (PCL)  1.8.1-dev
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pcl::ProgressiveSampleConsensus< PointT > Class Template Reference

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>

+ Inheritance diagram for pcl::ProgressiveSampleConsensus< PointT >:

Public Types

typedef boost::shared_ptr
< ProgressiveSampleConsensus
Ptr
 
typedef boost::shared_ptr
< const
ProgressiveSampleConsensus
ConstPtr
 
- Public Types inherited from pcl::SampleConsensus< PointT >
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. More...
 
 ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
 PROSAC (Progressive SAmple Consensus) main constructor. More...
 
bool computeModel (int debug_verbosity_level=0)
 Compute the actual model and find the inliers. More...
 
- Public Member Functions inherited from pcl::SampleConsensus< PointT >
 SampleConsensus (const SampleConsensusModelPtr &model, bool random=false)
 Constructor for base SAC. More...
 
 SampleConsensus (const SampleConsensusModelPtr &model, double threshold, bool random=false)
 Constructor for base SAC. More...
 
void setSampleConsensusModel (const SampleConsensusModelPtr &model)
 Set the Sample Consensus model to use. More...
 
SampleConsensusModelPtr getSampleConsensusModel () const
 Get the Sample Consensus model used. More...
 
virtual ~SampleConsensus ()
 Destructor for base SAC. More...
 
void setDistanceThreshold (double threshold)
 Set the distance to model threshold. More...
 
double getDistanceThreshold ()
 Get the distance to model threshold, as set by the user. More...
 
void setMaxIterations (int max_iterations)
 Set the maximum number of iterations. More...
 
int getMaxIterations ()
 Get the maximum number of iterations, as set by the user. More...
 
void setProbability (double probability)
 Set the desired probability of choosing at least one sample free from outliers. More...
 
double getProbability ()
 Obtain the probability of choosing at least one sample free from outliers, as set by the user. More...
 
virtual bool refineModel (const double sigma=3.0, const unsigned int max_iterations=1000)
 Refine the model found. More...
 
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. More...
 
void getModel (std::vector< int > &model)
 Return the best model found so far. More...
 
void getInliers (std::vector< int > &inliers)
 Return the best set of inliers found so far for this model. More...
 
void getModelCoefficients (Eigen::VectorXf &model_coefficients)
 Return the model coefficients of the best model found so far. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::SampleConsensus< PointT >
double rnd ()
 Boost-based random number generator. More...
 
- Protected Attributes inherited from pcl::SampleConsensus< PointT >
SampleConsensusModelPtr sac_model_
 The underlying data model used (i.e. More...
 
std::vector< int > model_
 The model found after the last computeModel () as point cloud indices. More...
 
std::vector< int > inliers_
 The indices of the points that were chosen as inliers after the last computeModel () call. More...
 
Eigen::VectorXf model_coefficients_
 The coefficients of our model computed directly from the model found. More...
 
double probability_
 Desired probability of choosing at least one sample free from outliers. More...
 
int iterations_
 Total number of internal loop iterations that we've done so far. More...
 
double threshold_
 Distance to model threshold. More...
 
int max_iterations_
 Maximum number of iterations before giving up. More...
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm. More...
 
boost::shared_ptr
< boost::uniform_01
< boost::mt19937 > > 
rng_
 Boost-based random number generator distribution. More...
 

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 56 of file prosac.h.

Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr<const ProgressiveSampleConsensus> pcl::ProgressiveSampleConsensus< PointT >::ConstPtr

Definition at line 62 of file prosac.h.

template<typename PointT >
typedef boost::shared_ptr<ProgressiveSampleConsensus> pcl::ProgressiveSampleConsensus< PointT >::Ptr

Definition at line 61 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
[in]modela Sample Consensus model

Definition at line 76 of file prosac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

template<typename PointT >
pcl::ProgressiveSampleConsensus< PointT >::ProgressiveSampleConsensus ( const SampleConsensusModelPtr &  model,
double  threshold 
)
inline

PROSAC (Progressive SAmple Consensus) main constructor.

Parameters
[in]modela Sample Consensus model
[in]thresholddistance to model threshold

Definition at line 87 of file prosac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

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
[in]debug_verbosity_levelenable/disable on-screen debug information and set the verbosity level

Implements pcl::SampleConsensus< PointT >.

Definition at line 54 of file prosac.hpp.


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