Point Cloud Library (PCL)  1.9.1-dev
rmsac.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2009, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #pragma once
42 
43 #include <algorithm>
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 
47 namespace pcl
48 {
49  /** \brief @b RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator
50  * SAmple Consensus) algorithm, which basically adds a Td,d test (see \a RandomizedRandomSampleConsensus) to an MSAC
51  * estimator (see \a MEstimatorSampleConsensus).
52  * \note RMSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
53  * \author Radu B. Rusu
54  * \ingroup sample_consensus
55  */
56  template <typename PointT>
58  {
59  using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
60 
61  public:
62  using Ptr = boost::shared_ptr<RandomizedMEstimatorSampleConsensus<PointT> >;
63  using ConstPtr = boost::shared_ptr<const RandomizedMEstimatorSampleConsensus<PointT> >;
64 
73 
74  /** \brief RMSAC (Randomized M-estimator SAmple Consensus) main constructor
75  * \param[in] model a Sample Consensus model
76  */
77  RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
78  : SampleConsensus<PointT> (model)
79  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
80  {
81  // Maximum number of trials before we give up.
82  max_iterations_ = 10000;
83  }
84 
85  /** \brief RMSAC (Randomized M-estimator SAmple Consensus) main constructor
86  * \param[in] model a Sample Consensus model
87  * \param[in] threshold distance to model threshold
88  */
89  RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
90  : SampleConsensus<PointT> (model, threshold)
91  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
92  {
93  // Maximum number of trials before we give up.
94  max_iterations_ = 10000;
95  }
96 
97  /** \brief Compute the actual model and find the inliers
98  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
99  */
100  bool
101  computeModel (int debug_verbosity_level = 0) override;
102 
103  /** \brief Set the percentage of points to pre-test.
104  * \param[in] nr_pretest percentage of points to pre-test
105  */
106  inline void
107  setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
108 
109  /** \brief Get the percentage of points to pre-test. */
110  inline double
111  getFractionNrPretest () const { return (fraction_nr_pretest_); }
112 
113  private:
114  /** \brief Number of samples to randomly pre-test, in percents. */
115  double fraction_nr_pretest_;
116  };
117 }
118 
119 #ifdef PCL_NO_PRECOMPILE
120 #include <pcl/sample_consensus/impl/rmsac.hpp>
121 #endif
double getFractionNrPretest() const
Get the percentage of points to pre-test.
Definition: rmsac.h:111
RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
Definition: rmsac.h:57
boost::shared_ptr< const RandomizedMEstimatorSampleConsensus< PointT > > ConstPtr
Definition: rmsac.h:63
boost::shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:75
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition: rmsac.h:107
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition: rmsac.h:77
boost::shared_ptr< RandomizedMEstimatorSampleConsensus< PointT > > Ptr
Definition: rmsac.h:62
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition: rmsac.h:89
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: rmsac.hpp:48
A point structure representing Euclidean xyz coordinates, and the RGB color.
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:324
SampleConsensus represents the base class.
Definition: sac.h:57