Point Cloud Library (PCL) 1.12.0
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ransac.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009, Willow Garage, Inc.
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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 RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm, as
49 * described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and
50 * Automated Cartography", Martin A. Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.
51 * A parallel variant is available, enable with setNumberOfThreads. Default is non-parallel.
52 *
53 * The algorithm works as follows:
54 * <ol>
55 * <li> randomly select samples from the cloud, just as many as needed to determine a model
56 * <li> compute the coefficients of the model from the samples
57 * <li> count how many points of the cloud belong to the model, given a threshold. These are called inliers
58 * <li> repeat until a good model has been found or a max number of iterations has been reached
59 * <li> return the model with the most inliers
60 * </ol>
61 * \author Radu B. Rusu
62 * \ingroup sample_consensus
63 */
64 template <typename PointT>
66 {
67 using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
68
69 public:
72
82
83 /** \brief RANSAC (RANdom SAmple Consensus) main constructor
84 * \param[in] model a Sample Consensus model
85 */
86 RandomSampleConsensus (const SampleConsensusModelPtr &model)
88 {
89 // Maximum number of trials before we give up.
90 max_iterations_ = 10000;
91 }
92
93 /** \brief RANSAC (RANdom SAmple Consensus) main constructor
94 * \param[in] model a Sample Consensus model
95 * \param[in] threshold distance to model threshold
96 */
97 RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
98 : SampleConsensus<PointT> (model, threshold)
99 {
100 // Maximum number of trials before we give up.
101 max_iterations_ = 10000;
102 }
103
104 /** \brief Compute the actual model and find the inliers
105 * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
106 */
107 bool
108 computeModel (int debug_verbosity_level = 0) override;
109 };
110}
111
112#ifdef PCL_NO_PRECOMPILE
113#include <pcl/sample_consensus/impl/ransac.hpp>
114#endif
Iterator class for point clouds with or without given indices.
RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm,...
Definition ransac.h:66
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition ransac.hpp:57
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RANdom SAmple Consensus) main constructor.
Definition ransac.h:86
RandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RANSAC (RANdom SAmple Consensus) main constructor.
Definition ransac.h:97
SampleConsensus represents the base class.
Definition sac.h:61
double probability_
Desired probability of choosing at least one sample free from outliers.
Definition sac.h:332
Indices inliers_
The indices of the points that were chosen as inliers after the last computeModel () call.
Definition sac.h:326
int iterations_
Total number of internal loop iterations that we've done so far.
Definition sac.h:335
Indices model_
The model found after the last computeModel () as point cloud indices.
Definition sac.h:323
Eigen::VectorXf model_coefficients_
The coefficients of our model computed directly from the model found.
Definition sac.h:329
double threshold_
Distance to model threshold.
Definition sac.h:338
SampleConsensusModelPtr sac_model_
The underlying data model used (i.e.
Definition sac.h:320
int threads_
The number of threads the scheduler should use, or a negative number if no parallelization is wanted.
Definition sac.h:344
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.