pcl::RandomizedRandomSampleConsensus< PointT > Class Template Reference

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. More...

#include <rransac.h>

Inheritance diagram for pcl::RandomizedRandomSampleConsensus< PointT >:

List of all members.

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

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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 Bogdan Rusu

Definition at line 55 of file rransac.h.

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Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModel<PointT>::Ptr pcl::RandomizedRandomSampleConsensus< PointT >::SampleConsensusModelPtr [private]

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 66 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:

model

a Sample Consensus model

Definition at line 72 of file rransac.h.

template<typename PointT>

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

RRANSAC (RAndom SAmple Consensus) main constructor.

Parameters:

model	a Sample Consensus model
threshold	distance to model threshold

Definition at line 83 of file rransac.h.

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Member Function Documentation

template<typename PointT >

bool pcl::RandomizedRandomSampleConsensus< PointT >::computeModel

(

int

debug_verbosity_level = 0

)

[virtual]

Compute the actual model and find the inliers.

Parameters:

debug_verbosity_level

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

Implements pcl::SampleConsensus< PointT >.

Definition at line 45 of file rransac.hpp.

template<typename PointT>

double pcl::RandomizedRandomSampleConsensus< PointT >::getFractionNrPretest

(

)

[inline]

Get the percentage of points to pre-test.

Definition at line 101 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:

nr_pretest

percentage of points to pre-test

Definition at line 98 of file rransac.h.

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Member Data Documentation

template<typename PointT>

double pcl::RandomizedRandomSampleConsensus< PointT >::fraction_nr_pretest_ [private]

Number of samples to randomly pre-test, in percents.

Definition at line 105 of file rransac.h.

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

• rransac.h
• rransac.hpp