pcl::RandomizedRandomSampleConsensus< PointT > Class Template Reference
[Module sample_consensus]

RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple Consensus), as described in "Randomized RANSAC with Td,d test", O. More...

#include <pcl/sample_consensus/rransac.h>

Inheritance diagram for pcl::RandomizedRandomSampleConsensus< PointT >:

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Collaboration diagram for pcl::RandomizedRandomSampleConsensus< PointT >:

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List of all members.

Public Types
typedef boost::shared_ptr < RandomizedRandomSampleConsensus >	Ptr
typedef boost::shared_ptr < const RandomizedRandomSampleConsensus >	ConstPtr
Public Member Functions
	RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model)
	RANSAC (Randomized RAndom SAmple Consensus) main constructor.
	RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
	RRANSAC (RAndom SAmple Consensus) main constructor.
bool	computeModel (int debug_verbosity_level=0)
	Compute the actual model and find the inliers.
void	setFractionNrPretest (double nr_pretest)
	Set the percentage of points to pre-test.
double	getFractionNrPretest ()
	Get the percentage of points to pre-test.

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Detailed Description

template<typename PointT>
class pcl::RandomizedRandomSampleConsensus< PointT >

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.

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

Definition at line 57 of file rransac.h.

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Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr<const RandomizedRandomSampleConsensus> pcl::RandomizedRandomSampleConsensus< PointT >::ConstPtr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file rransac.h.

template<typename PointT >

typedef boost::shared_ptr<RandomizedRandomSampleConsensus> pcl::RandomizedRandomSampleConsensus< PointT >::Ptr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 of file rransac.h.

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Constructor & Destructor Documentation

template<typename PointT >

pcl::RandomizedRandomSampleConsensus< PointT >::RandomizedRandomSampleConsensus

(

const SampleConsensusModelPtr &

model

)

[inline]

RANSAC (Randomized RAndom SAmple Consensus) main constructor.

Parameters:

[in]

model

a Sample Consensus model

Definition at line 77 of file rransac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

template<typename PointT >

pcl::RandomizedRandomSampleConsensus< PointT >::RandomizedRandomSampleConsensus	(	const SampleConsensusModelPtr &	model,
		double	threshold
	)			[inline]

RRANSAC (RAndom SAmple Consensus) main constructor.

Parameters:

[in]	model	a Sample Consensus model
[in]	threshold	distance to model threshold

Definition at line 89 of file rransac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

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Member Function Documentation

template<typename PointT >

bool pcl::RandomizedRandomSampleConsensus< PointT >::computeModel

(

int

debug_verbosity_level = 0

)

[inline, virtual]

Compute the actual model and find the inliers.

Parameters:

[in]

debug_verbosity_level

enable/disable on-screen debug information and set the verbosity level

Implements pcl::SampleConsensus< PointT >.

Definition at line 48 of file rransac.hpp.

References pcl::SampleConsensus< PointT >::getRandomSamples(), pcl::SampleConsensus< PointT >::inliers_, pcl::SampleConsensus< PointT >::iterations_, pcl::SampleConsensus< PointT >::max_iterations_, pcl::SampleConsensus< PointT >::model_, pcl::SampleConsensus< PointT >::model_coefficients_, pcl::SampleConsensus< PointT >::probability_, pcl::SampleConsensus< PointT >::sac_model_, and pcl::SampleConsensus< PointT >::threshold_.

template<typename PointT >

double pcl::RandomizedRandomSampleConsensus< PointT >::getFractionNrPretest

(

)

[inline]

Get the percentage of points to pre-test.

Definition at line 111 of file rransac.h.

template<typename PointT >

void pcl::RandomizedRandomSampleConsensus< PointT >::setFractionNrPretest

(

double

nr_pretest

)

[inline]

Set the percentage of points to pre-test.

Parameters:

[in]

nr_pretest

percentage of points to pre-test

Definition at line 107 of file rransac.h.

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The documentation for this class was generated from the following files:

• /builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/rransac.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/impl/rransac.hpp