Point Cloud Library (PCL)  1.12.1-dev
rransac.h
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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 
46 namespace pcl
47 {
48  /** \brief @b RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple
49  * Consensus), as described in "Randomized RANSAC with Td,d test", O. Chum and J. Matas, Proc. British Machine Vision
50  * Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
51  *
52  * The algorithm works similar to RANSAC, with one addition: after computing the model coefficients, randomly select a fraction
53  * of points. If any of these points do not belong to the model (given a threshold), continue with the next iteration instead
54  * of checking all points. This may speed up the finding of the model if the fraction of points to pre-test is chosen well.
55  * \note RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
56  * \author Radu B. Rusu
57  * \ingroup sample_consensus
58  */
59  template <typename PointT>
61  {
62  using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
63 
64  public:
65  using Ptr = shared_ptr<RandomizedRandomSampleConsensus<PointT> >;
66  using ConstPtr = shared_ptr<const RandomizedRandomSampleConsensus<PointT> >;
67 
76 
77  /** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
78  * \param[in] model a Sample Consensus model
79  */
80  RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model)
81  : SampleConsensus<PointT> (model)
82  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
83  {
84  // Maximum number of trials before we give up.
85  max_iterations_ = 10000;
86  }
87 
88  /** \brief RRANSAC (Randomized RANdom SAmple Consensus) main constructor
89  * \param[in] model a Sample Consensus model
90  * \param[in] threshold distance to model threshold
91  */
92  RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
93  : SampleConsensus<PointT> (model, threshold)
94  , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
95  {
96  // Maximum number of trials before we give up.
97  max_iterations_ = 10000;
98  }
99 
100  /** \brief Compute the actual model and find the inliers
101  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
102  */
103  bool
104  computeModel (int debug_verbosity_level = 0) override;
105 
106  /** \brief Set the percentage of points to pre-test.
107  * \param[in] nr_pretest percentage of points to pre-test
108  */
109  inline void
110  setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
111 
112  /** \brief Get the percentage of points to pre-test. */
113  inline double
114  getFractionNrPretest () const { return (fraction_nr_pretest_); }
115 
116  private:
117  /** \brief Number of samples to randomly pre-test, in percents. */
118  double fraction_nr_pretest_;
119  };
120 }
121 
122 #ifdef PCL_NO_PRECOMPILE
123 #include <pcl/sample_consensus/impl/rransac.hpp>
124 #endif
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple...
Definition: rransac.h:61
shared_ptr< const RandomizedRandomSampleConsensus< PointT > > ConstPtr
Definition: rransac.h:66
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition: rransac.h:92
double getFractionNrPretest() const
Get the percentage of points to pre-test.
Definition: rransac.h:114
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: rransac.hpp:48
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
Definition: rransac.h:80
shared_ptr< RandomizedRandomSampleConsensus< PointT > > Ptr
Definition: rransac.h:65
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition: rransac.h:110
SampleConsensus represents the base class.
Definition: sac.h:61
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.