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ransac.h
/*
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* Copyright (c) 2009, Willow Garage, Inc.
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#pragma once
#include <pcl/cuda/sample_consensus/sac.h>
#include <pcl/cuda/sample_consensus/sac_model.h>
namespace pcl
{
namespace cuda
{
/** \brief @b 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
*/
template <template <typename> class Storage>
class RandomSampleConsensus : public SampleConsensus<Storage>
{
using SampleConsensus<Storage>::max_iterations_;
using SampleConsensus<Storage>::threshold_;
using SampleConsensus<Storage>::iterations_;
using SampleConsensus<Storage>::sac_model_;
using SampleConsensus<Storage>::model_;
using SampleConsensus<Storage>::model_coefficients_;
using SampleConsensus<Storage>::inliers_;
using SampleConsensus<Storage>::inliers_stencil_;
using SampleConsensus<Storage>::probability_;
using SampleConsensusModelPtr = typename SampleConsensusModel<Storage>::Ptr;
using Coefficients = typename SampleConsensusModel<Storage>::Coefficients;
using Indices = typename SampleConsensusModel<Storage>::Indices;
using Hypotheses = typename SampleConsensusModel<Storage>::Hypotheses;
public:
/** \brief RANSAC (RAndom SAmple Consensus) main constructor
* \param model a Sample Consensus model
*/
RandomSampleConsensus (const SampleConsensusModelPtr &model) :
SampleConsensus<Storage> (model)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief RANSAC (RAndom SAmple Consensus) main constructor
* \param model a Sample Consensus model
* \param threshold distance to model threshold
*/
RandomSampleConsensus (const SampleConsensusModelPtr &model, float threshold) :
SampleConsensus<Storage> (model, threshold)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief Compute the actual model and find the inliers
* \param debug_verbosity_level enable/disable on-screen debug
* information and set the verbosity level
*/
bool
computeModel (int debug_verbosity_level = 0);
};
} // namespace
} // namespace
pcl::cuda::RandomSampleConsensus
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...
Definition ransac.h:56
pcl::cuda::RandomSampleConsensus::RandomSampleConsensus
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition ransac.h:76
pcl::cuda::RandomSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
pcl::cuda::RandomSampleConsensus::RandomSampleConsensus
RandomSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition ransac.h:87
pcl::cuda::SampleConsensus
Definition sac.h:51
pcl::cuda::SampleConsensus::inliers_stencil_
IndicesPtr inliers_stencil_
Definition sac.h:180
pcl::cuda::SampleConsensus::model_
Indices model_
The model found after the last computeModel () as point cloud indices.
Definition sac.h:176
pcl::cuda::SampleConsensus::probability_
float probability_
Desired probability of choosing at least one sample free from outliers.
Definition sac.h:186
pcl::cuda::SampleConsensus::threshold_
float threshold_
Distance to model threshold.
Definition sac.h:192
pcl::cuda::SampleConsensus::max_iterations_
int max_iterations_
Maximum number of iterations before giving up.
Definition sac.h:195
pcl::cuda::SampleConsensus::model_coefficients_
Coefficients model_coefficients_
The coefficients of our model computed directly from the model found.
Definition sac.h:183
pcl::cuda::SampleConsensus::inliers_
IndicesPtr inliers_
The indices of the points that were chosen as inliers after the last call.
Definition sac.h:179
pcl::cuda::SampleConsensus::sac_model_
SampleConsensusModelPtr sac_model_
The underlying data model used (what is it that we attempt to search for).
Definition sac.h:173
pcl::cuda::SampleConsensus::iterations_
int iterations_
Total number of internal loop iterations that we've done so far.
Definition sac.h:189
pcl::cuda::SampleConsensusModel::Hypotheses
typename Storage< float4 >::type Hypotheses
Definition sac_model.h:105
pcl::cuda::SampleConsensusModel::Coefficients
typename Storage< float >::type Coefficients
Definition sac_model.h:101
pcl::cuda::SampleConsensusModel::Indices
typename Storage< int >::type Indices
Definition sac_model.h:97
pcl::cuda::SampleConsensusModel::Ptr
shared_ptr< SampleConsensusModel > Ptr
Definition sac_model.h:94
pcl
Definition convolution.h:46