Point Cloud Library (PCL)  1.7.2
ransac.h
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40 
41 #ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
42 #define PCL_SAMPLE_CONSENSUS_RANSAC_H_
43 
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
46 
47 namespace pcl
48 {
49  /** \brief @b RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as
50  * described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and
51  * Automated Cartography", Martin A. Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.
52  * \author Radu B. Rusu
53  * \ingroup sample_consensus
54  */
55  template <typename PointT>
56  class RandomSampleConsensus : public SampleConsensus<PointT>
57  {
58  typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
59 
60  public:
61  typedef boost::shared_ptr<RandomSampleConsensus> Ptr;
62  typedef boost::shared_ptr<const RandomSampleConsensus> ConstPtr;
63 
72 
73  /** \brief RANSAC (RAndom SAmple Consensus) main constructor
74  * \param[in] model a Sample Consensus model
75  */
76  RandomSampleConsensus (const SampleConsensusModelPtr &model)
77  : SampleConsensus<PointT> (model)
78  {
79  // Maximum number of trials before we give up.
80  max_iterations_ = 10000;
81  }
82 
83  /** \brief RANSAC (RAndom SAmple Consensus) main constructor
84  * \param[in] model a Sample Consensus model
85  * \param[in] threshold distance to model threshold
86  */
87  RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
88  : SampleConsensus<PointT> (model, threshold)
89  {
90  // Maximum number of trials before we give up.
91  max_iterations_ = 10000;
92  }
93 
94  /** \brief Compute the actual model and find the inliers
95  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
96  */
97  bool
98  computeModel (int debug_verbosity_level = 0);
99  };
100 }
101 
102 #ifdef PCL_NO_PRECOMPILE
103 #include <pcl/sample_consensus/impl/ransac.hpp>
104 #endif
105 
106 #endif //#ifndef PCL_SAMPLE_CONSENSUS_RANSAC_H_
107 
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
Definition: ransac.hpp:48
boost::shared_ptr< const RandomSampleConsensus > ConstPtr
Definition: ransac.h:62
RandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: ransac.h:87
boost::shared_ptr< SampleConsensusModel > Ptr
Definition: sac_model.h:74
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RAndom SAmple Consensus) main constructor.
Definition: ransac.h:76
boost::shared_ptr< RandomSampleConsensus > Ptr
Definition: ransac.h:61
A point structure representing Euclidean xyz coordinates, and the RGB color.
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm...
Definition: ransac.h:56
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:331
SampleConsensus represents the base class.
Definition: sac.h:56