pcl::ProgressiveSampleConsensus< PointT > Class Template Reference

RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. and Matas, J.G., CVPR, I: 220-226 2005. More...

#include <prosac.h>

Inheritance diagram for pcl::ProgressiveSampleConsensus< PointT >:

[legend]

List of all members.

Public Member Functions
bool	computeModel (int debug_verbosity_level=0)
	Compute the actual model and find the inliers.
void	getRandomSamples (const IndicesPtr &indices, size_t nr_samples, std::set< int > &indices_subset)
	Get a set of randomly selected indices.
	ProgressiveSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
	PROSAC (Progressive SAmple Consensus) main constructor.
	ProgressiveSampleConsensus (const SampleConsensusModelPtr &model)
	PROSAC (Progressive SAmple Consensus) main constructor.
Private Types
typedef SampleConsensusModel < PointT >::Ptr	SampleConsensusModelPtr

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Detailed Description

template<typename PointT>
class pcl::ProgressiveSampleConsensus< PointT >

RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Matching with PROSAC – Progressive Sample Consensus", Chum, O. and Matas, J.G., CVPR, I: 220-226 2005.

Author:

Vincent Rabaud

Definition at line 53 of file prosac.h.

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Member Typedef Documentation

template<typename PointT >

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 64 of file prosac.h.

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Constructor & Destructor Documentation

template<typename PointT >

pcl::ProgressiveSampleConsensus< PointT >::ProgressiveSampleConsensus

(

const SampleConsensusModelPtr &

model

)

[inline]

PROSAC (Progressive SAmple Consensus) main constructor.

Parameters:

model

a Sample Consensus model

Definition at line 70 of file prosac.h.

template<typename PointT >

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

PROSAC (Progressive SAmple Consensus) main constructor.

Parameters:

	model	a Sample Consensus model
	threshold	distance to model threshold

Definition at line 81 of file prosac.h.

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Member Function Documentation

template<typename PointT >

bool pcl::ProgressiveSampleConsensus< PointT >::computeModel

(

int

debug_verbosity_level = 0

)

[inline, 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 47 of file prosac.hpp.

template<typename PointT >

void pcl::ProgressiveSampleConsensus< PointT >::getRandomSamples	(	const IndicesPtr &	indices,
		size_t	nr_samples,
		std::set< int > &	indices_subset
	)			[inline]

Get a set of randomly selected indices.

Parameters:

	indices	the input indices vector
	nr_samples	the desired number of point indices to randomly select
	indices_subset	the resultant output set of randomly selected indices

Reimplemented from pcl::SampleConsensus< PointT >.

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

• prosac.h
• prosac.hpp