Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/sample_consensus/include/pcl/sample_consensus/rransac.h
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00040 
00041 #ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00042 #define PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00043 
00044 #include <pcl/sample_consensus/sac.h>
00045 #include <pcl/sample_consensus/sac_model.h>
00046 
00047 namespace pcl
00048 {
00049   /** \brief @b RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple 
00050     * Consensus), as described in "Randomized RANSAC with Td,d test", O. Chum and J. Matas, Proc. British Machine Vision 
00051     * Conf. (BMVC '02), vol. 2, BMVA, pp. 448-457, 2002.
00052     * \note RRANSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
00053     * \author Radu B. Rusu
00054     * \ingroup sample_consensus
00055     */
00056   template <typename PointT>
00057   class RandomizedRandomSampleConsensus : public SampleConsensus<PointT>
00058   {
00059     typedef typename SampleConsensusModel<PointT>::Ptr SampleConsensusModelPtr;
00060 
00061     public:
00062       typedef boost::shared_ptr<RandomizedRandomSampleConsensus> Ptr;
00063       typedef boost::shared_ptr<const RandomizedRandomSampleConsensus> ConstPtr;
00064 
00065       using SampleConsensus<PointT>::max_iterations_;
00066       using SampleConsensus<PointT>::threshold_;
00067       using SampleConsensus<PointT>::iterations_;
00068       using SampleConsensus<PointT>::sac_model_;
00069       using SampleConsensus<PointT>::model_;
00070       using SampleConsensus<PointT>::model_coefficients_;
00071       using SampleConsensus<PointT>::inliers_;
00072       using SampleConsensus<PointT>::probability_;
00073 
00074       /** \brief RANSAC (Randomized RAndom SAmple Consensus) main constructor
00075         * \param[in] model a Sample Consensus model
00076         */
00077       RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model) 
00078         : SampleConsensus<PointT> (model)
00079         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00080       {
00081         // Maximum number of trials before we give up.
00082         max_iterations_ = 10000;
00083       }
00084 
00085       /** \brief RRANSAC (RAndom SAmple Consensus) main constructor
00086         * \param[in] model a Sample Consensus model
00087         * \param[in] threshold distance to model threshold
00088         */
00089       RandomizedRandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold) 
00090         : SampleConsensus<PointT> (model, threshold)
00091         , fraction_nr_pretest_ (10.0) // Number of samples to try randomly in percents
00092       {
00093         // Maximum number of trials before we give up.
00094         max_iterations_ = 10000;
00095       }
00096 
00097       /** \brief Compute the actual model and find the inliers
00098         * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
00099         */
00100       bool 
00101       computeModel (int debug_verbosity_level = 0);
00102 
00103       /** \brief Set the percentage of points to pre-test.
00104         * \param[in] nr_pretest percentage of points to pre-test
00105         */
00106       inline void 
00107       setFractionNrPretest (double nr_pretest) { fraction_nr_pretest_ = nr_pretest; }
00108 
00109       /** \brief Get the percentage of points to pre-test. */
00110       inline double 
00111       getFractionNrPretest () { return (fraction_nr_pretest_); }
00112 
00113     private:
00114       /** \brief Number of samples to randomly pre-test, in percents. */
00115       double fraction_nr_pretest_;
00116   };
00117 }
00118 
00119 #ifdef PCL_NO_PRECOMPILE
00120 #include <pcl/sample_consensus/impl/rransac.hpp>
00121 #endif
00122 
00123 #endif  //#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
00124