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ransac.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
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* $Id$
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#pragma once
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>
namespace pcl
{
/** \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.
* A parallel variant is available, enable with setNumberOfThreads. Default is non-parallel.
*
* The algorithm works as follows:
* <ol>
* <li> randomly select samples from the cloud, just as many as needed to determine a model
* <li> compute the coefficients of the model from the samples
* <li> count how many points of the cloud belong to the model, given a threshold. These are called inliers
* <li> repeat until a good model has been found or a max number of iterations has been reached
* <li> return the model with the most inliers
* </ol>
* \author Radu B. Rusu
* \ingroup sample_consensus
*/
template <typename PointT>
class RandomSampleConsensus : public SampleConsensus<PointT>
{
using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
public:
using Ptr = shared_ptr<RandomSampleConsensus<PointT> >;
using ConstPtr = shared_ptr<const RandomSampleConsensus<PointT> >;
using SampleConsensus<PointT>::max_iterations_;
using SampleConsensus<PointT>::threshold_;
using SampleConsensus<PointT>::iterations_;
using SampleConsensus<PointT>::sac_model_;
using SampleConsensus<PointT>::model_;
using SampleConsensus<PointT>::model_coefficients_;
using SampleConsensus<PointT>::inliers_;
using SampleConsensus<PointT>::probability_;
using SampleConsensus<PointT>::threads_;
/** \brief RANSAC (RANdom SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
*/
RandomSampleConsensus (const SampleConsensusModelPtr &model)
: SampleConsensus<PointT> (model)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief RANSAC (RANdom SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
* \param[in] threshold distance to model threshold
*/
RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
: SampleConsensus<PointT> (model, threshold)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief Compute the actual model and find the inliers
* \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
*/
bool
computeModel (int debug_verbosity_level = 0) override;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/ransac.hpp>
#endif
pcl::RandomSampleConsensus::Ptr
shared_ptr< RandomSampleConsensus< PointT > > Ptr
Definition ransac.h:70
pcl::RandomSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition ransac.hpp:57
pcl::RandomSampleConsensus::ConstPtr
shared_ptr< const RandomSampleConsensus< PointT > > ConstPtr
Definition ransac.h:71
pcl::RandomSampleConsensus::RandomSampleConsensus
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RANdom SAmple Consensus) main constructor.
Definition ransac.h:86
pcl::RandomSampleConsensus::RandomSampleConsensus
RandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RANSAC (RANdom SAmple Consensus) main constructor.
Definition ransac.h:97
pcl::SampleConsensus< PointT >::probability_
double probability_
Definition sac.h:352
pcl::SampleConsensus< PointT >::inliers_
Indices inliers_
Definition sac.h:346
pcl::SampleConsensus< PointT >::iterations_
int iterations_
Definition sac.h:355
pcl::SampleConsensus< PointT >::model_
Indices model_
Definition sac.h:343
pcl::SampleConsensus< PointT >::model_coefficients_
Eigen::VectorXf model_coefficients_
Definition sac.h:349
pcl::SampleConsensus< PointT >::threshold_
double threshold_
Definition sac.h:358
pcl::SampleConsensus< PointT >::sac_model_
SampleConsensusModelPtr sac_model_
Definition sac.h:340
pcl::SampleConsensus< PointT >::threads_
int threads_
Definition sac.h:364
pcl::SampleConsensus< PointT >::max_iterations_
int max_iterations_
Definition sac.h:361
pcl::SampleConsensusModel::Ptr
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition sac_model.h:78
pcl
Definition convolution.h:46