Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SampleConsensus< T > Class Template Referenceabstract

SampleConsensus represents the base class. More...

#include <pcl/sample_consensus/sac.h>

Public Types

typedef boost::shared_ptr
< SampleConsensus
Ptr
 
typedef boost::shared_ptr
< const SampleConsensus
ConstPtr
 

Public Member Functions

 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 computeModel (int debug_verbosity_level=0)=0
 Compute the actual model. 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...
 

Protected Member Functions

double rnd ()
 Boost-based random number generator. More...
 

Protected Attributes

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 T>
class pcl::SampleConsensus< T >

SampleConsensus represents the base class.

All sample consensus methods must inherit from this class.

Author
Radu Bogdan Rusu

Definition at line 56 of file sac.h.

Member Typedef Documentation

template<typename T>
typedef boost::shared_ptr<const SampleConsensus> pcl::SampleConsensus< T >::ConstPtr

Definition at line 66 of file sac.h.

template<typename T>
typedef boost::shared_ptr<SampleConsensus> pcl::SampleConsensus< T >::Ptr

Definition at line 62 of file sac.h.

Constructor & Destructor Documentation

template<typename T>
pcl::SampleConsensus< T >::SampleConsensus ( const SampleConsensusModelPtr &  model,
bool  random = false 
)
inline

Constructor for base SAC.

Parameters
[in]modela Sample Consensus model
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 72 of file sac.h.

template<typename T>
pcl::SampleConsensus< T >::SampleConsensus ( const SampleConsensusModelPtr &  model,
double  threshold,
bool  random = false 
)
inline

Constructor for base SAC.

Parameters
[in]modela Sample Consensus model
[in]thresholddistance to model threshol
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 96 of file sac.h.

template<typename T>
virtual pcl::SampleConsensus< T >::~SampleConsensus ( )
inlinevirtual

Destructor for base SAC.

Definition at line 134 of file sac.h.

Member Function Documentation

template<typename T>
virtual bool pcl::SampleConsensus< T >::computeModel ( int  debug_verbosity_level = 0)
pure virtual
template<typename T>
double pcl::SampleConsensus< T >::getDistanceThreshold ( )
inline

Get the distance to model threshold, as set by the user.

Definition at line 144 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::getInliers ( std::vector< int > &  inliers)
inline

Return the best set of inliers found so far for this model.

Parameters
[out]inliersthe resultant set of inliers

Definition at line 300 of file sac.h.

template<typename T>
int pcl::SampleConsensus< T >::getMaxIterations ( )
inline

Get the maximum number of iterations, as set by the user.

Definition at line 154 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::getModel ( std::vector< int > &  model)
inline

Return the best model found so far.

Parameters
[out]modelthe resultant model

Definition at line 294 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::getModelCoefficients ( Eigen::VectorXf &  model_coefficients)
inline

Return the model coefficients of the best model found so far.

Parameters
[out]model_coefficientsthe resultant model coefficients, as documented in Module sample_consensus

Definition at line 306 of file sac.h.

template<typename T>
double pcl::SampleConsensus< T >::getProbability ( )
inline

Obtain the probability of choosing at least one sample free from outliers, as set by the user.

Definition at line 165 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::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
[in]indicesthe input indices vector
[in]nr_samplesthe desired number of point indices to randomly select
[out]indices_subsetthe resultant output set of randomly selected indices

Definition at line 280 of file sac.h.

template<typename T>
SampleConsensusModelPtr pcl::SampleConsensus< T >::getSampleConsensusModel ( ) const
inline

Get the Sample Consensus model used.

Definition at line 128 of file sac.h.

template<typename T>
virtual bool pcl::SampleConsensus< T >::refineModel ( const double  sigma = 3.0,
const unsigned int  max_iterations = 1000 
)
inlinevirtual

Refine the model found.

This loops over the model coefficients and optimizes them together with the set of inliers, until the change in the set of inliers is minimal.

Parameters
[in]sigmastandard deviation multiplier for considering a sample as inlier (Mahalanobis distance)
[in]max_iterationsthe maxim number of iterations to try to refine in case the inliers keep on changing

Definition at line 179 of file sac.h.

template<typename T>
double pcl::SampleConsensus< T >::rnd ( )
inlineprotected

Boost-based random number generator.

Definition at line 341 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getRandomSamples().

template<typename T>
void pcl::SampleConsensus< T >::setDistanceThreshold ( double  threshold)
inline

Set the distance to model threshold.

Parameters
[in]thresholddistance to model threshold

Definition at line 140 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::setMaxIterations ( int  max_iterations)
inline

Set the maximum number of iterations.

Parameters
[in]max_iterationsmaximum number of iterations

Definition at line 150 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::setProbability ( double  probability)
inline

Set the desired probability of choosing at least one sample free from outliers.

Parameters
[in]probabilitythe 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 161 of file sac.h.

template<typename T>
void pcl::SampleConsensus< T >::setSampleConsensusModel ( const SampleConsensusModelPtr &  model)
inline

Set the Sample Consensus model to use.

Parameters
[in]modela Sample Consensus model

Definition at line 121 of file sac.h.

Member Data Documentation

template<typename T>
std::vector<int> pcl::SampleConsensus< T >::inliers_
protected

The indices of the points that were chosen as inliers after the last computeModel () call.

Definition at line 316 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getInliers(), and pcl::SampleConsensus< WeightSACPointType >::refineModel().

template<typename T>
int pcl::SampleConsensus< T >::iterations_
protected

Total number of internal loop iterations that we've done so far.

Definition at line 325 of file sac.h.

template<typename T>
int pcl::SampleConsensus< T >::max_iterations_
protected

Maximum number of iterations before giving up.

Definition at line 331 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getMaxIterations(), and pcl::SampleConsensus< WeightSACPointType >::setMaxIterations().

template<typename T>
std::vector<int> pcl::SampleConsensus< T >::model_
protected

The model found after the last computeModel () as point cloud indices.

Definition at line 313 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getModel().

template<typename T>
Eigen::VectorXf pcl::SampleConsensus< T >::model_coefficients_
protected

The coefficients of our model computed directly from the model found.

Definition at line 319 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getModelCoefficients(), and pcl::SampleConsensus< WeightSACPointType >::refineModel().

template<typename T>
double pcl::SampleConsensus< T >::probability_
protected

Desired probability of choosing at least one sample free from outliers.

Definition at line 322 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::getProbability(), and pcl::SampleConsensus< WeightSACPointType >::setProbability().

template<typename T>
boost::shared_ptr<boost::uniform_01<boost::mt19937> > pcl::SampleConsensus< T >::rng_
protected

Boost-based random number generator distribution.

Definition at line 337 of file sac.h.

Referenced by pcl::SampleConsensus< WeightSACPointType >::rnd(), and pcl::SampleConsensus< WeightSACPointType >::SampleConsensus().

template<typename T>
boost::mt19937 pcl::SampleConsensus< T >::rng_alg_
protected

Boost-based random number generator algorithm.

Definition at line 334 of file sac.h.

template<typename T>
SampleConsensusModelPtr pcl::SampleConsensus< T >::sac_model_
protected
template<typename T>
double pcl::SampleConsensus< T >::threshold_
protected

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