Point Cloud Library (PCL)  1.10.0-dev
ransac.h
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40 
41 #pragma once
42 
43 #include <pcl/sample_consensus/sac.h>
44 #include <pcl/sample_consensus/sac_model.h>
45 
46 namespace pcl
47 {
48  /** \brief @b RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm, as
49  * described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and
50  * Automated Cartography", Martin A. Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.
51  * A parallel variant is available, enable with setNumberOfThreads. Default is non-parallel.
52  * \author Radu B. Rusu
53  * \ingroup sample_consensus
54  */
55  template <typename PointT>
56  class RandomSampleConsensus : public SampleConsensus<PointT>
57  {
58  using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
59 
60  public:
63 
73 
74  /** \brief RANSAC (RAndom SAmple Consensus) main constructor
75  * \param[in] model a Sample Consensus model
76  */
77  RandomSampleConsensus (const SampleConsensusModelPtr &model)
78  : SampleConsensus<PointT> (model)
79  {
80  // Maximum number of trials before we give up.
81  max_iterations_ = 10000;
82  }
83 
84  /** \brief RANSAC (RAndom SAmple Consensus) main constructor
85  * \param[in] model a Sample Consensus model
86  * \param[in] threshold distance to model threshold
87  */
88  RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
89  : SampleConsensus<PointT> (model, threshold)
90  {
91  // Maximum number of trials before we give up.
92  max_iterations_ = 10000;
93  }
94 
95  /** \brief Compute the actual model and find the inliers
96  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
97  */
98  bool
99  computeModel (int debug_verbosity_level = 0) override;
100  };
101 }
102 
103 #ifdef PCL_NO_PRECOMPILE
104 #include <pcl/sample_consensus/impl/ransac.hpp>
105 #endif
shared_ptr< const RandomSampleConsensus< PointT > > ConstPtr
Definition: ransac.h:62
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
shared_ptr< RandomSampleConsensus< PointT > > Ptr
Definition: ransac.h:61
RandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: ransac.h:88
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: ransac.hpp:57
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: ransac.h:77
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:76
RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm...
Definition: ransac.h:56
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:90
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:339
SampleConsensus represents the base class.
Definition: sac.h:58