sample_consensus::SAC Class Reference

#include <sac.h>

Inheritance diagram for sample_consensus::SAC:

List of all members.

Public Member Functions
virtual void	computeCoefficients (std::vector< double > &coefficients)
	Compute the coefficients of the model and return them.
virtual bool	computeModel (int debug=0)=0
	Compute the actual model. Pure virtual.
virtual std::vector< int >	getInliers ()
	Get a list of the model inliers, found after computeModel ()
PointCloud	getPointCloud (std::vector< int > indices)
	Return the point cloud representing a set of given indices.
std::set< int >	getRandomSamples (PointCloud points, int nr_samples)
	Get a set of randomly selected indices.
std::set< int >	getRandomSamples (PointCloud points, std::vector< int > indices, int nr_samples)
	Get a vector of randomly selected indices.
virtual void	projectPointsToModel (const std::vector< int > &indices, const std::vector< double > &model_coefficients, PointCloud &projected_points)
	Project a set of given points (using their indices) onto the model and return their projections.
virtual void	refineCoefficients (std::vector< double > &refined_coefficients)
	Use Least-Squares optimizations to refine the coefficients of the model, and return them.
virtual int	removeInliers ()
	Remove the model inliers from the list of data indices. Returns the number of indices left.
	SAC ()
	Constructor for base SAC.
	SAC (SACModel *model)
	Constructor for base SAC.
virtual void	setMaxIterations (int max_iterations)
	Set the maximum number of iterations.
virtual void	setProbability (double probability)
	Set the desired probability of choosing at least one sample free from outliers.
virtual void	setThreshold (double threshold)
	Set the threshold to model.
virtual	~SAC ()
	Destructor for base SAC.
Protected Attributes
int	iterations_
	Total number of internal loop iterations that we've done so far.
int	max_iterations_
	Maximum number of iterations before giving up.
double	probability_
	Desired probability of choosing at least one sample free from outliers.
SACModel *	sac_model_
	The underlying data model used (i.e. what is it that we attempt to search for).
double	threshold_
	Distance to model threshold.

---

Detailed Description

Definition at line 44 of file sac.h.

---

Constructor & Destructor Documentation

sample_consensus::SAC::SAC

(

)

[inline]

Constructor for base SAC.

Definition at line 50 of file sac.h.

sample_consensus::SAC::SAC

(

SACModel *

model

)

[inline]

Constructor for base SAC.

Parameters:

model

a SAmple Consensus model

Definition at line 59 of file sac.h.

virtual sample_consensus::SAC::~SAC

(

)

[inline, virtual]

Destructor for base SAC.

Definition at line 66 of file sac.h.

---

Member Function Documentation

virtual void sample_consensus::SAC::computeCoefficients

(

std::vector< double > &

coefficients

)

[inline, virtual]

Compute the coefficients of the model and return them.

Definition at line 105 of file sac.h.

virtual bool sample_consensus::SAC::computeModel

(

int

debug = 0

)

[pure virtual]

Compute the actual model. Pure virtual.

Implemented in sample_consensus::RANSAC.

virtual std::vector<int> sample_consensus::SAC::getInliers

(

)

[inline, virtual]

Get a list of the model inliers, found after computeModel ()

Definition at line 128 of file sac.h.

PointCloud SAC::getPointCloud

(

std::vector< int >

indices

)

Return the point cloud representing a set of given indices.

return the point cloud representing a set of given indices.

Parameters:

indices

a set of indices that represent the data that we're interested in

Definition at line 41 of file sac.cpp.

std::set<int> sample_consensus::SAC::getRandomSamples	(	PointCloud	points,
		int	nr_samples
	)		[inline]

Get a set of randomly selected indices.

Note:

Since we return a set, we do not guarantee that we'll return precisely the desired number of samples (ie. nr_samples).

Parameters:

points	the point cloud data set to be used
nr_samples	the desired number of point indices

Definition at line 161 of file sac.h.

std::set<int> sample_consensus::SAC::getRandomSamples	(	PointCloud	points,
		std::vector< int >	indices,
		int	nr_samples
	)		[inline]

Get a vector of randomly selected indices.

Note:

Since we return a set, we do not guarantee that we'll return precisely the desired number of samples (ie. nr_samples).

Parameters:

points	the point cloud data set to be used (unused)
indices	a set of indices that represent the data that we're interested in
nr_samples	the desired number of point indices

Definition at line 178 of file sac.h.

virtual void sample_consensus::SAC::projectPointsToModel	(	const std::vector< int > &	indices,
		const std::vector< double > &	model_coefficients,
		PointCloud &	projected_points
	)		[inline, virtual]

Project a set of given points (using their indices) onto the model and return their projections.

Parameters:

indices	a set of indices that represent the data that we're interested in
model_coefficients	the coefficients of the underlying model
projected_points	the resultant projected points

Definition at line 146 of file sac.h.

virtual void sample_consensus::SAC::refineCoefficients

(

std::vector< double > &

refined_coefficients

)

[inline, virtual]

Use Least-Squares optimizations to refine the coefficients of the model, and return them.

Parameters:

refit_coefficients

the resultant recomputed coefficients after non-linear optimization

Definition at line 116 of file sac.h.

virtual int sample_consensus::SAC::removeInliers

(

)

[inline, virtual]

Remove the model inliers from the list of data indices. Returns the number of indices left.

Definition at line 123 of file sac.h.

virtual void sample_consensus::SAC::setMaxIterations

(

int

max_iterations

)

[inline, virtual]

Set the maximum number of iterations.

Parameters:

max_iterations

maximum number of iterations

Definition at line 83 of file sac.h.

virtual void sample_consensus::SAC::setProbability

(

double

probability

)

[inline, virtual]

Set the desired probability of choosing at least one sample free from outliers.

Parameters:

probability

the desired probability of choosing at least one sample free from outliers

Definition at line 93 of file sac.h.

virtual void sample_consensus::SAC::setThreshold

(

double

threshold

)

[inline, virtual]

Set the threshold to model.

Parameters:

threshold

distance to model threshold

Definition at line 73 of file sac.h.

---

Member Data Documentation

int sample_consensus::SAC::iterations_ [protected]

Total number of internal loop iterations that we've done so far.

Definition at line 194 of file sac.h.

int sample_consensus::SAC::max_iterations_ [protected]

Maximum number of iterations before giving up.

Definition at line 197 of file sac.h.

double sample_consensus::SAC::probability_ [protected]

Desired probability of choosing at least one sample free from outliers.

Definition at line 191 of file sac.h.

SACModel* sample_consensus::SAC::sac_model_ [protected]

The underlying data model used (i.e. what is it that we attempt to search for).

Definition at line 188 of file sac.h.

double sample_consensus::SAC::threshold_ [protected]

Distance to model threshold.

Definition at line 200 of file sac.h.

---

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

• sac.h
• sac.cpp