Point Cloud Library (PCL) 1.13.1
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prosac.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.
6 * Copyright (c) 2012-, Open Perception, 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 ProgressiveSampleConsensus represents an implementation of the PROSAC (PROgressive SAmple Consensus) algorithm, as
49 * described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. and Matas, J.G., CVPR, I: 220-226
50 * 2005.
51 * \author Vincent Rabaud
52 * \ingroup sample_consensus
53 */
54 template<typename PointT>
56 {
57 using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
58
59 public:
60 using Ptr = shared_ptr<ProgressiveSampleConsensus>;
61 using ConstPtr = shared_ptr<const ProgressiveSampleConsensus>;
62
71
72 /** \brief PROSAC (Progressive SAmple Consensus) main constructor
73 * \param[in] model a Sample Consensus model
74 */
75 ProgressiveSampleConsensus (const SampleConsensusModelPtr &model) :
76 SampleConsensus<PointT> (model)
77 {
78 // Maximum number of trials before we give up.
79 max_iterations_ = 10000;
80 }
81
82 /** \brief PROSAC (Progressive SAmple Consensus) main constructor
83 * \param[in] model a Sample Consensus model
84 * \param[in] threshold distance to model threshold
85 */
86 ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold) :
87 SampleConsensus<PointT> (model, threshold)
88 {
89 // Maximum number of trials before we give up.
90 max_iterations_ = 10000;
91 }
92
93 /** \brief Compute the actual model and find the inliers
94 * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
95 */
96 bool
97 computeModel (int debug_verbosity_level = 0) override;
98 };
99}
100
101#ifdef PCL_NO_PRECOMPILE
102#include <pcl/sample_consensus/impl/prosac.hpp>
103#endif
ProgressiveSampleConsensus represents an implementation of the PROSAC (PROgressive SAmple Consensus) ...
Definition prosac.h:56
shared_ptr< const ProgressiveSampleConsensus > ConstPtr
Definition prosac.h:61
shared_ptr< ProgressiveSampleConsensus > Ptr
Definition prosac.h:60
ProgressiveSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
PROSAC (Progressive SAmple Consensus) main constructor.
Definition prosac.h:86
ProgressiveSampleConsensus(const SampleConsensusModelPtr &model)
PROSAC (Progressive SAmple Consensus) main constructor.
Definition prosac.h:75
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition prosac.hpp:56
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 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.