Point Cloud Library (PCL) 1.12.1
rransac.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
46namespace pcl
47{
48 /** \brief @b RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple
49 * Consensus), as described in "Randomized RANSAC with Td,d test", O. Chum and J. Matas, Proc. British Machine Vision
50 * Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
51 *
52 * The algorithm works similar to RANSAC, with one addition: after computing the model coefficients, randomly select a fraction
53 * of points. If any of these points do not belong to the model (given a threshold), continue with the next iteration instead
54 * of checking all points. This may speed up the finding of the model if the fraction of points to pre-test is chosen well.
55 * \note RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
56 * \author Radu B. Rusu
57 * \ingroup sample_consensus
58 */
59 template <typename PointT>
61 {
62 using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
63
64 public:
65 using Ptr = shared_ptr<RandomizedRandomSampleConsensus<PointT> >;
66 using ConstPtr = shared_ptr<const RandomizedRandomSampleConsensus<PointT> >;
67
76
77 /** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
78 * \param[in] model a Sample Consensus model
79 */
80 RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model)
81 : SampleConsensus<PointT> (model)
82 , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
83 {
84 // Maximum number of trials before we give up.
85 max_iterations_ = 10000;
86 }
87
88 /** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
89 * \param[in] model a Sample Consensus model
90 * \param[in] threshold distance to model threshold
91 */
92 RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
93 : SampleConsensus<PointT> (model, threshold)
94 , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
95 {
96 // Maximum number of trials before we give up.
97 max_iterations_ = 10000;
98 }
99
100 /** \brief Compute the actual model and find the inliers
101 * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
102 */
103 bool
104 computeModel (int debug_verbosity_level = 0) override;
105
106 /** \brief Set the percentage of points to pre-test.
107 * \param[in] nr_pretest percentage of points to pre-test
108 */
109 inline void
110 setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
111
112 /** \brief Get the percentage of points to pre-test. */
113 inline double
114 getFractionNrPretest () const { return (fraction_nr_pretest_); }
115
116 private:
117 /** \brief Number of samples to randomly pre-test, in percents. */
118 double fraction_nr_pretest_;
119 };
120}
121
122#ifdef PCL_NO_PRECOMPILE
123#include <pcl/sample_consensus/impl/rransac.hpp>
124#endif
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple...
Definition: rransac.h:61
shared_ptr< const RandomizedRandomSampleConsensus< PointT > > ConstPtr
Definition: rransac.h:66
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition: rransac.h:92
double getFractionNrPretest() const
Get the percentage of points to pre-test.
Definition: rransac.h:114
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: rransac.hpp:48
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition: rransac.h:80
shared_ptr< RandomizedRandomSampleConsensus< PointT > > Ptr
Definition: rransac.h:65
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition: rransac.h:110
SampleConsensus represents the base class.
Definition: sac.h:61
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:341
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:77
A point structure representing Euclidean xyz coordinates, and the RGB color.