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rransac.h
/*
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* Point Cloud Library (PCL) - www.pointclouds.org
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#pragma once
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>
namespace pcl
{
/** \brief @b RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple
* Consensus), as described in "Randomized RANSAC with Td,d test", O. Chum and J. Matas, Proc. British Machine Vision
* Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
*
* The algorithm works similar to RANSAC, with one addition: after computing the model coefficients, randomly select a fraction
* of points. If any of these points do not belong to the model (given a threshold), continue with the next iteration instead
* of checking all points. This may speed up the finding of the model if the fraction of points to pre-test is chosen well.
* \note RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
* \author Radu B. Rusu
* \ingroup sample_consensus
*/
template <typename PointT>
class RandomizedRandomSampleConsensus : public SampleConsensus<PointT>
{
using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
public:
using Ptr = shared_ptr<RandomizedRandomSampleConsensus<PointT> >;
using ConstPtr = shared_ptr<const RandomizedRandomSampleConsensus<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_;
/** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
*/
RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model)
: SampleConsensus<PointT> (model)
, fraction_nr_pretest_ (-1.0)
, nr_samples_pretest_ (1)
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
* \param[in] threshold distance to model threshold
*/
RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
: SampleConsensus<PointT> (model, threshold)
, fraction_nr_pretest_ (-1.0)
, nr_samples_pretest_ (1)
{
// 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;
/** \brief Set the percentage of points to pre-test.
* This is an alternative to setNrSamplesPretest.
* \param[in] nr_pretest percentage of points to pre-test
*/
inline void
setFractionNrPretest (double nr_pretest)
{
fraction_nr_pretest_ = nr_pretest;
nr_samples_pretest_ = 0;
}
/** \brief Get the percentage of points to pre-test. */
inline double
getFractionNrPretest () const { return (fraction_nr_pretest_); }
/** \brief Set the absolute number of points to pre-test.
* This is an alternative to setFractionNrPretest.
* \param[in] nr_pretest absolute number of points to pre-test
*/
inline void
setNrSamplesPretest (std::size_t nr_pretest)
{
nr_samples_pretest_ = nr_pretest;
fraction_nr_pretest_ = -1.0;
}
/** \brief Get the absolute number of points to pre-test. */
inline std::size_t
getNrSamplesPretest () const { return (nr_samples_pretest_); }
private:
/** \brief Number of samples to randomly pre-test, in percents. This is an alternative and mutually exclusive to nr_samples_pretest_. */
double fraction_nr_pretest_;
/** \brief Absolute number of samples to randomly pre-test. This is an alternative and mutually exclusive to fraction_nr_pretest_. */
std::size_t nr_samples_pretest_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/rransac.hpp>
#endif
pcl::RandomizedRandomSampleConsensus::setNrSamplesPretest
void setNrSamplesPretest(std::size_t nr_pretest)
Set the absolute number of points to pre-test.
Definition rransac.h:128
pcl::RandomizedRandomSampleConsensus::ConstPtr
shared_ptr< const RandomizedRandomSampleConsensus< PointT > > ConstPtr
Definition rransac.h:66
pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition rransac.h:93
pcl::RandomizedRandomSampleConsensus::getFractionNrPretest
double getFractionNrPretest() const
Get the percentage of points to pre-test.
Definition rransac.h:121
pcl::RandomizedRandomSampleConsensus::getNrSamplesPretest
std::size_t getNrSamplesPretest() const
Get the absolute number of points to pre-test.
Definition rransac.h:136
pcl::RandomizedRandomSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition rransac.hpp:48
pcl::RandomizedRandomSampleConsensus::RandomizedRandomSampleConsensus
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition rransac.h:80
pcl::RandomizedRandomSampleConsensus::Ptr
shared_ptr< RandomizedRandomSampleConsensus< PointT > > Ptr
Definition rransac.h:65
pcl::RandomizedRandomSampleConsensus::setFractionNrPretest
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition rransac.h:113
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 >::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