Point Cloud Library (PCL) 1.15.0
Loading...
Searching...
No Matches
rmsac.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2009, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id$
38 *
39 */
40
41#pragma once
42
43#include <pcl/sample_consensus/sac.h>
44#include <pcl/sample_consensus/sac_model.h>
45
46namespace pcl
47{
48 /** \brief @b RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator
49 * SAmple Consensus) algorithm, which basically adds a Td,d test (see \a RandomizedRandomSampleConsensus) to an MSAC
50 * estimator (see \a MEstimatorSampleConsensus).
51 * \note RMSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
52 * \author Radu B. Rusu
53 * \ingroup sample_consensus
54 */
55 template <typename PointT>
57 {
58 using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
59
60 public:
61 using Ptr = shared_ptr<RandomizedMEstimatorSampleConsensus<PointT> >;
62 using ConstPtr = shared_ptr<const RandomizedMEstimatorSampleConsensus<PointT> >;
63
72
73 /** \brief RMSAC (Randomized M-estimator SAmple Consensus) main constructor
74 * \param[in] model a Sample Consensus model
75 */
76 RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
77 : SampleConsensus<PointT> (model)
78 , fraction_nr_pretest_ (-1.0)
79 , nr_samples_pretest_ (1)
80 {
81 // Maximum number of trials before we give up.
82 max_iterations_ = 10000;
83 }
84
85 /** \brief RMSAC (Randomized M-estimator SAmple Consensus) main constructor
86 * \param[in] model a Sample Consensus model
87 * \param[in] threshold distance to model threshold
88 */
89 RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
90 : SampleConsensus<PointT> (model, threshold)
91 , fraction_nr_pretest_ (-1.0)
92 , nr_samples_pretest_ (1)
93 {
94 // Maximum number of trials before we give up.
95 max_iterations_ = 10000;
96 }
97
98 /** \brief Compute the actual model and find the inliers
99 * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
100 */
101 bool
102 computeModel (int debug_verbosity_level = 0) override;
103
104 /** \brief Set the percentage of points to pre-test.
105 * This is an alternative to setNrSamplesPretest.
106 * \param[in] nr_pretest percentage of points to pre-test
107 */
108 inline void
109 setFractionNrPretest (double nr_pretest)
110 {
111 fraction_nr_pretest_ = nr_pretest;
112 nr_samples_pretest_ = 0;
113 }
114
115 /** \brief Get the percentage of points to pre-test. */
116 inline double
117 getFractionNrPretest () const { return (fraction_nr_pretest_); }
118
119 /** \brief Set the absolute number of points to pre-test.
120 * This is an alternative to setFractionNrPretest.
121 * \param[in] nr_pretest absolute number of points to pre-test
122 */
123 inline void
124 setNrSamplesPretest (std::size_t nr_pretest)
125 {
126 nr_samples_pretest_ = nr_pretest;
127 fraction_nr_pretest_ = -1.0;
128 }
129
130 /** \brief Get the absolute number of points to pre-test. */
131 inline std::size_t
132 getNrSamplesPretest () const { return (nr_samples_pretest_); }
133
134 private:
135 /** \brief Number of samples to randomly pre-test, in percents. This is an alternative and mutually exclusive to nr_samples_pretest_. */
136 double fraction_nr_pretest_;
137
138 /** \brief Absolute number of samples to randomly pre-test. This is an alternative and mutually exclusive to fraction_nr_pretest_. */
139 std::size_t nr_samples_pretest_;
140 };
141}
142
143#ifdef PCL_NO_PRECOMPILE
144#include <pcl/sample_consensus/impl/rmsac.hpp>
145#endif
RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
Definition rmsac.h:57
void setNrSamplesPretest(std::size_t nr_pretest)
Set the absolute number of points to pre-test.
Definition rmsac.h:124
shared_ptr< const RandomizedMEstimatorSampleConsensus< PointT > > ConstPtr
Definition rmsac.h:62
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition rmsac.h:89
std::size_t getNrSamplesPretest() const
Get the absolute number of points to pre-test.
Definition rmsac.h:132
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition rmsac.hpp:48
shared_ptr< RandomizedMEstimatorSampleConsensus< PointT > > Ptr
Definition rmsac.h:61
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
Definition rmsac.h:76
double getFractionNrPretest() const
Get the percentage of points to pre-test.
Definition rmsac.h:117
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
Definition rmsac.h:109
SampleConsensus represents the base class.
Definition sac.h:61
double probability_
Desired probability of choosing at least one sample free from outliers.
Definition sac.h:332
Indices inliers_
The indices of the points that were chosen as inliers after the last computeModel () call.
Definition sac.h:326
int iterations_
Total number of internal loop iterations that we've done so far.
Definition sac.h:335
Indices model_
The model found after the last computeModel () as point cloud indices.
Definition sac.h:323
Eigen::VectorXf model_coefficients_
The coefficients of our model computed directly from the model found.
Definition sac.h:329
double threshold_
Distance to model threshold.
Definition sac.h:338
SampleConsensusModelPtr sac_model_
The underlying data model used (i.e.
Definition sac.h:320
int max_iterations_
Maximum number of iterations before giving up.
Definition sac.h:341
shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition sac_model.h:78
A point structure representing Euclidean xyz coordinates, and the RGB color.