Point Cloud Library (PCL)  1.9.1-dev
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pcl::cuda::RandomSampleConsensus< Storage > Class Template Reference

RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A. More...

#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h>

+ Inheritance diagram for pcl::cuda::RandomSampleConsensus< Storage >:

Public Member Functions

 RandomSampleConsensus (const SampleConsensusModelPtr &model)
 RANSAC (RAndom SAmple Consensus) main constructor. More...
 
 RandomSampleConsensus (const SampleConsensusModelPtr &model, float threshold)
 RANSAC (RAndom 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::cuda::SampleConsensus< Storage >
 SampleConsensus (const SampleConsensusModelPtr &model)
 Constructor for base SAC. More...
 
 SampleConsensus (const SampleConsensusModelPtr &model, float threshold)
 Constructor for base SAC. More...
 
virtual ~SampleConsensus ()
 Destructor for base SAC. More...
 
void setDistanceThreshold (float threshold)
 Set the distance to model threshold. More...
 
float 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 (float probability)
 Set the desired probability of choosing at least one sample free from outliers. More...
 
float getProbability ()
 Obtain the probability of choosing at least one sample free from outliers, as set by the user. More...
 
void getModel (Indices &model)
 Return the best model found so far. More...
 
IndicesPtr getInliers ()
 Return the best set of inliers found so far for this model. More...
 
IndicesPtr getInliersStencil ()
 
void getModelCoefficients (Coefficients &model_coefficients)
 Return the model coefficients of the best model found so far. More...
 

Additional Inherited Members

- Public Types inherited from pcl::cuda::SampleConsensus< Storage >
typedef Storage< float >::type Coefficients
 
typedef boost::shared_ptr< CoefficientsCoefficientsPtr
 
typedef boost::shared_ptr< const CoefficientsCoefficientsConstPtr
 
typedef boost::shared_ptr< SampleConsensusPtr
 
typedef boost::shared_ptr< const SampleConsensusConstPtr
 
- Protected Attributes inherited from pcl::cuda::SampleConsensus< Storage >
SampleConsensusModelPtr sac_model_
 The underlying data model used (what is it that we attempt to search for). More...
 
Indices model_
 The model found after the last computeModel () as point cloud indices. More...
 
IndicesPtr inliers_
 The indices of the points that were chosen as inliers after the last call. More...
 
IndicesPtr inliers_stencil_
 
Coefficients model_coefficients_
 The coefficients of our model computed directly from the model found. More...
 
float 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...
 
float threshold_
 Distance to model threshold. More...
 
int max_iterations_
 Maximum number of iterations before giving up. More...
 

Detailed Description

template<template< typename > class Storage>
class pcl::cuda::RandomSampleConsensus< Storage >

RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A.

Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.

Author
Radu Bogdan Rusu

Definition at line 55 of file ransac.h.

Constructor & Destructor Documentation

template<template< typename > class Storage>
pcl::cuda::RandomSampleConsensus< Storage >::RandomSampleConsensus ( const SampleConsensusModelPtr &  model)
inline

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters
modela Sample Consensus model

Definition at line 76 of file ransac.h.

References pcl::cuda::SampleConsensus< Storage >::max_iterations_.

template<template< typename > class Storage>
pcl::cuda::RandomSampleConsensus< Storage >::RandomSampleConsensus ( const SampleConsensusModelPtr &  model,
float  threshold 
)
inline

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters
modela Sample Consensus model
thresholddistance to model threshold

Definition at line 87 of file ransac.h.

References pcl::cuda::RandomSampleConsensus< Storage >::computeModel(), and pcl::cuda::SampleConsensus< Storage >::max_iterations_.

Member Function Documentation

template<template< typename > class Storage>
bool pcl::cuda::RandomSampleConsensus< Storage >::computeModel ( int  debug_verbosity_level = 0)
virtual

Compute the actual model and find the inliers.

Parameters
debug_verbosity_levelenable/disable on-screen debug information and set the verbosity level

Implements pcl::cuda::SampleConsensus< Storage >.

Referenced by pcl::cuda::RandomSampleConsensus< Storage >::RandomSampleConsensus().


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