rmsac.h
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#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
#define PCL_SAMPLE_CONSENSUS_RMSAC_H_
#include <algorithm>
#include <pcl/sample_consensus/sac.h>
#include <pcl/sample_consensus/sac_model.h>
namespace pcl
{
/** \brief @b RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator
* SAmple Consensus) algorithm, which basically adds a Td,d test (see \a RandomizedRandomSampleConsensus) to an MSAC
* estimator (see \a MEstimatorSampleConsensus).
* \note RMSAC 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 RandomizedMEstimatorSampleConsensus : public SampleConsensus<PointT>
{
typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
public:
typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus> Ptr;
typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus> ConstPtr;
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 RMSAC (Randomized M-estimator SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
*/
RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
: SampleConsensus<PointT> (model)
, fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
{
// Maximum number of trials before we give up.
max_iterations_ = 10000;
}
/** \brief RMSAC (Randomized M-estimator SAmple Consensus) main constructor
* \param[in] model a Sample Consensus model
* \param[in] threshold distance to model threshold
*/
RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
: SampleConsensus<PointT> (model, threshold)
, fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
{
// 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);
/** \brief Set the percentage of points to pre-test.
* \param[in] nr_pretest percentage of points to pre-test
*/
inline void
setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
/** \brief Get the percentage of points to pre-test. */
inline double
getFractionNrPretest () { return (fraction_nr_pretest_); }
private:
/** \brief Number of samples to randomly pre-test, in percents. */
double fraction_nr_pretest_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/sample_consensus/impl/rmsac.hpp>
#endif
#endif //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_
pcl::RandomizedMEstimatorSampleConsensus
RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
Definition: rmsac.h:58
pcl
Definition: cloud_iterator.h:46
pcl::RandomizedMEstimatorSampleConsensus::setFractionNrPretest
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition: rmsac.h:108
pcl::RandomizedMEstimatorSampleConsensus::RandomizedMEstimatorSampleConsensus
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition: rmsac.h:78
pcl::RandomizedMEstimatorSampleConsensus::RandomizedMEstimatorSampleConsensus
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition: rmsac.h:90
pcl::RandomizedMEstimatorSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
Definition: rmsac.hpp:48
pcl::SampleConsensusModel::Ptr
boost::shared_ptr< SampleConsensusModel > Ptr
Definition: sac_model.h:74
pcl::RandomizedMEstimatorSampleConsensus::getFractionNrPretest
double getFractionNrPretest()
Get the percentage of points to pre-test.
Definition: rmsac.h:112
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:594
pcl::RandomizedMEstimatorSampleConsensus::Ptr
boost::shared_ptr< RandomizedMEstimatorSampleConsensus > Ptr
Definition: rmsac.h:63
pcl::SampleConsensus< PointT >::max_iterations_
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:331
pcl::SampleConsensus
SampleConsensus represents the base class.
Definition: sac.h:56
pcl::RandomizedMEstimatorSampleConsensus::ConstPtr
boost::shared_ptr< const RandomizedMEstimatorSampleConsensus > ConstPtr
Definition: rmsac.h:64