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>
Public Types | |
| typedef boost::shared_ptr < const RandomizedRandomSampleConsensus > | ConstPtr |
| typedef boost::shared_ptr < RandomizedRandomSampleConsensus > | Ptr |
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. | |
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.
Member Typedef Documentation
| typedef boost::shared_ptr<const RandomizedRandomSampleConsensus> pcl::RandomizedRandomSampleConsensus< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
| typedef boost::shared_ptr<RandomizedRandomSampleConsensus> pcl::RandomizedRandomSampleConsensus< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef SampleConsensusModel<PointT>::Ptr pcl::RandomizedRandomSampleConsensus< PointT >::SampleConsensusModelPtr [private] |
Reimplemented from pcl::SampleConsensus< PointT >.
Constructor & Destructor Documentation
| pcl::RandomizedRandomSampleConsensus< PointT >::RandomizedRandomSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
| pcl::RandomizedRandomSampleConsensus< PointT >::RandomizedRandomSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
| double | threshold | ||
| ) | [inline] |
Member Function Documentation
| bool pcl::RandomizedRandomSampleConsensus< PointT >::computeModel | ( | int | debug_verbosity_level = 0 | ) | [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.
| double pcl::RandomizedRandomSampleConsensus< PointT >::getFractionNrPretest | ( | ) | [inline] |
| void pcl::RandomizedRandomSampleConsensus< PointT >::setFractionNrPretest | ( | double | nr_pretest | ) | [inline] |
Member Data Documentation
double pcl::RandomizedRandomSampleConsensus< PointT >::fraction_nr_pretest_ [private] |
The documentation for this class was generated from the following files: