Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 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