SampleConsensus represents the base class. More...

#include <pcl/sample_consensus/sac.h>

Public Types
typedef boost::shared_ptr < SampleConsensus >	Ptr

typedef boost::shared_ptr < const SampleConsensus >	ConstPtr

Public Member Functions
	SampleConsensus (const SampleConsensusModelPtr &model, bool random=false)
	Constructor for base SAC. More...

	SampleConsensus (const SampleConsensusModelPtr &model, double threshold, bool random=false)
	Constructor for base SAC. More...

virtual	~SampleConsensus ()
	Destructor for base SAC. More...

void	setDistanceThreshold (double threshold)
	Set the distance to model threshold. More...

double	getDistanceThreshold ()
	Get the distance to model threshold, as set by the user. More...

void	setMaxIterations (int max_iterations)
	Set the maximum number of iterations. More...

int	getMaxIterations ()
	Get the maximum number of iterations, as set by the user. More...

void	setProbability (double probability)
	Set the desired probability of choosing at least one sample free from outliers. More...

double	getProbability ()
	Obtain the probability of choosing at least one sample free from outliers, as set by the user. More...

virtual bool	computeModel (int debug_verbosity_level=0)=0
	Compute the actual model. More...

void	getRandomSamples (const boost::shared_ptr< std::vector< int > > &indices, size_t nr_samples, std::set< int > &indices_subset)
	Get a set of randomly selected indices. More...

void	getModel (std::vector< int > &model)
	Return the best model found so far. More...

void	getInliers (std::vector< int > &inliers)
	Return the best set of inliers found so far for this model. More...

void	getModelCoefficients (Eigen::VectorXf &model_coefficients)
	Return the model coefficients of the best model found so far. More...

Detailed Description

template<typename T>
class pcl::SampleConsensus< T >

SampleConsensus represents the base class.

All sample consensus methods must inherit from this class.

Author: Radu Bogdan Rusu

Definition at line 55 of file sac.h.

Member Typedef Documentation

template<typename T>

typedef boost::shared_ptr<const SampleConsensus> pcl::SampleConsensus< T >::ConstPtr

Definition at line 65 of file sac.h.

template<typename T>

typedef boost::shared_ptr<SampleConsensus> pcl::SampleConsensus< T >::Ptr

Definition at line 61 of file sac.h.

Constructor & Destructor Documentation

template<typename T>

pcl::SampleConsensus< T >::SampleConsensus	(	const SampleConsensusModelPtr &	model,
		bool	random = `false`
	)

inline

Constructor for base SAC.

Parameters

[in]	model	a Sample Consensus model
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 71 of file sac.h.

template<typename T>

pcl::SampleConsensus< T >::SampleConsensus	(	const SampleConsensusModelPtr &	model,
		double	threshold,
		bool	random = `false`
	)

inline

Constructor for base SAC.

Parameters

[in]	model	a Sample Consensus model
[in]	threshold	distance to model threshol
[in]	random	if true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 95 of file sac.h.

template<typename T>

virtual pcl::SampleConsensus< T >::~SampleConsensus ( )

inlinevirtual

Destructor for base SAC.

Definition at line 115 of file sac.h.

Member Function Documentation

template<typename T>

virtual bool pcl::SampleConsensus< T >::computeModel ( int debug_verbosity_level = 0 )

pure virtual

Compute the actual model.

Pure virtual.

Implemented in pcl::MaximumLikelihoodSampleConsensus< PointT >, pcl::RandomizedMEstimatorSampleConsensus< PointT >, pcl::ProgressiveSampleConsensus< PointT >, pcl::RandomizedRandomSampleConsensus< PointT >, pcl::MEstimatorSampleConsensus< PointT >, pcl::LeastMedianSquares< PointT >, and pcl::RandomSampleConsensus< PointT >.

template<typename T>

double pcl::SampleConsensus< T >::getDistanceThreshold ( )

inline

Get the distance to model threshold, as set by the user.

Definition at line 125 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::getInliers ( std::vector< int > & inliers )

inline

Return the best set of inliers found so far for this model.

Parameters

[out] inliers the resultant set of inliers

Definition at line 178 of file sac.h.

template<typename T>

int pcl::SampleConsensus< T >::getMaxIterations ( )

inline

Get the maximum number of iterations, as set by the user.

Definition at line 135 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::getModel ( std::vector< int > & model )

inline

Return the best model found so far.

Parameters

[out] model the resultant model

Definition at line 172 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::getModelCoefficients ( Eigen::VectorXf & model_coefficients )

inline

Return the model coefficients of the best model found so far.

Parameters

[out] model_coefficients the resultant model coefficients

Definition at line 184 of file sac.h.

template<typename T>

double pcl::SampleConsensus< T >::getProbability ( )

inline

Obtain the probability of choosing at least one sample free from outliers, as set by the user.

Definition at line 146 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::getRandomSamples	(	const boost::shared_ptr< std::vector< int > > &	indices,
		size_t	nr_samples,
		std::set< int > &	indices_subset
	)

inline

Get a set of randomly selected indices.

Parameters

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

Definition at line 158 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::setDistanceThreshold ( double threshold )

inline

Set the distance to model threshold.

Parameters

[in] threshold distance to model threshold

Definition at line 121 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::setMaxIterations ( int max_iterations )

inline

Set the maximum number of iterations.

Parameters

[in] max_iterations maximum number of iterations

Definition at line 131 of file sac.h.

template<typename T>

void pcl::SampleConsensus< T >::setProbability ( double probability )

inline

Set the desired probability of choosing at least one sample free from outliers.

Parameters

[in] probability the desired probability of choosing at least one sample free from outliers

Note: internally, the probability is set to 99% (0.99) by default.

Definition at line 142 of file sac.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/sample_consensus/include/pcl/sample_consensus/sac.h

Public Types

Public Member Functions

Detailed Description

template<typename T> class pcl::SampleConsensus< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
class pcl::SampleConsensus< T >