SampleConsensus represents the base class. More...

#include <pcl/sample_consensus/sac.h>

Inheritance diagram for pcl::SampleConsensus< T >:

Collaboration diagram for pcl::SampleConsensus< T >:

Public Types
using	Ptr = shared_ptr<SampleConsensus<T> >
using	ConstPtr = shared_ptr<const SampleConsensus<T> >

Public Member Functions
	SampleConsensus (const SampleConsensusModelPtr &model, bool random=false)
	Constructor for base SAC.
	SampleConsensus (const SampleConsensusModelPtr &model, double threshold, bool random=false)
	Constructor for base SAC.
void	setSampleConsensusModel (const SampleConsensusModelPtr &model)
	Set the Sample Consensus model to use.
SampleConsensusModelPtr	getSampleConsensusModel () const
	Get the Sample Consensus model used.
virtual	~SampleConsensus ()=default
	Destructor for base SAC.
void	setDistanceThreshold (double threshold)
	Set the distance to model threshold.
double	getDistanceThreshold () const
	Get the distance to model threshold, as set by the user.
void	setMaxIterations (int max_iterations)
	Set the maximum number of iterations.
int	getMaxIterations () const
	Get the maximum number of iterations, as set by the user.
void	setProbability (double probability)
	Set the desired probability of choosing at least one sample free from outliers.
double	getProbability () const
	Obtain the probability of choosing at least one sample free from outliers, as set by the user.
void	setNumberOfThreads (const int nr_threads=-1)
	Set the number of threads to use or turn off parallelization.
int	getNumberOfThreads () const
	Get the number of threads, as set by the user.
virtual bool	computeModel (int debug_verbosity_level=0)=0
	Compute the actual model.
virtual bool	refineModel (const double sigma=3.0, const unsigned int max_iterations=1000)
	Refine the model found.
void	getRandomSamples (const IndicesPtr &indices, std::size_t nr_samples, std::set< index_t > &indices_subset)
	Get a set of randomly selected indices.
void	getModel (Indices &model) const
	Return the best model found so far.
void	getInliers (Indices &inliers) const
	Return the best set of inliers found so far for this model.
void	getModelCoefficients (Eigen::VectorXf &model_coefficients) const
	Return the model coefficients of the best model found so far.

Protected Member Functions
double	rnd ()
	Boost-based random number generator.

Protected Attributes
SampleConsensusModelPtr	sac_model_
	The underlying data model used (i.e.
Indices	model_
	The model found after the last computeModel () as point cloud indices.
Indices	inliers_
	The indices of the points that were chosen as inliers after the last computeModel () call.
Eigen::VectorXf	model_coefficients_
	The coefficients of our model computed directly from the model found.
double	probability_
	Desired probability of choosing at least one sample free from outliers.
int	iterations_
	Total number of internal loop iterations that we've done so far.
double	threshold_
	Distance to model threshold.
int	max_iterations_
	Maximum number of iterations before giving up.
int	threads_
	The number of threads the scheduler should use, or a negative number if no parallelization is wanted.
boost::mt19937	rng_alg_
	Boost-based random number generator algorithm.
std::shared_ptr< boost::uniform_01< boost::mt19937 > >	rng_
	Boost-based random number generator distribution.

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 60 of file sac.h.

Member Typedef Documentation

◆ ConstPtr

template<typename T>

using pcl::SampleConsensus< T >::ConstPtr = shared_ptr<const SampleConsensus<T> >

Definition at line 70 of file sac.h.

◆ Ptr

template<typename T>

using pcl::SampleConsensus< T >::Ptr = shared_ptr<SampleConsensus<T> >

Definition at line 69 of file sac.h.

Constructor & Destructor Documentation

◆ SampleConsensus() [1/2]

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 77 of file sac.h.

References iterations_, max_iterations_, probability_, rng_, rng_alg_, sac_model_, threads_, and threshold_.

◆ SampleConsensus() [2/2]

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

Definition at line 98 of file sac.h.

References iterations_, max_iterations_, probability_, rng_, rng_alg_, sac_model_, threads_, and threshold_.

◆ ~SampleConsensus()

template<typename T>

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

virtualdefault

Destructor for base SAC.

Member Function Documentation

◆ computeModel()

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

◆ getDistanceThreshold()

template<typename T>

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

inline

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

Definition at line 143 of file sac.h.

References threshold_.

◆ getInliers()

template<typename T>

void pcl::SampleConsensus< T >::getInliers ( Indices & inliers ) const

inline

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

Parameters

[out] inliers the resultant set of inliers

Definition at line 310 of file sac.h.

References inliers_.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

◆ getMaxIterations()

template<typename T>

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

inline

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

Definition at line 153 of file sac.h.

References max_iterations_.

◆ getModel()

template<typename T>

void pcl::SampleConsensus< T >::getModel ( Indices & model ) const

inline

Return the best model found so far.

Parameters

[out] model the resultant model

Definition at line 304 of file sac.h.

References model_.

◆ getModelCoefficients()

template<typename T>

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

inline

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

Parameters

[out] model_coefficients the resultant model coefficients, as documented in Module sample_consensus

Definition at line 316 of file sac.h.

References model_coefficients_.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

◆ getNumberOfThreads()

template<typename T>

int pcl::SampleConsensus< T >::getNumberOfThreads ( ) const

inline

Get the number of threads, as set by the user.

Definition at line 175 of file sac.h.

References threads_.

◆ getProbability()

template<typename T>

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

inline

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

Definition at line 164 of file sac.h.

References probability_.

◆ getRandomSamples()

template<typename T>

void pcl::SampleConsensus< T >::getRandomSamples	(	const IndicesPtr &	indices,
		std::size_t	nr_samples,
		std::set< index_t > &	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 290 of file sac.h.

References rnd().

◆ getSampleConsensusModel()

template<typename T>

SampleConsensusModelPtr pcl::SampleConsensus< T >::getSampleConsensusModel ( ) const

inline

Get the Sample Consensus model used.

Definition at line 127 of file sac.h.

References sac_model_.

◆ refineModel()

template<typename T>

virtual bool pcl::SampleConsensus< T >::refineModel	(	const double	sigma = 3.0,
		const unsigned int	max_iterations = 1000 )

inlinevirtual

Refine the model found.

This loops over the model coefficients and optimizes them together with the set of inliers, until the change in the set of inliers is minimal.

Parameters

[in]	sigma	standard deviation multiplier for considering a sample as inlier (Mahalanobis distance)
[in]	max_iterations	the maxim number of iterations to try to refine in case the inliers keep on changing

Definition at line 189 of file sac.h.

References inliers_, model_coefficients_, sac_model_, and threshold_.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

◆ rnd()

template<typename T>

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

inlineprotected

Boost-based random number generator.

Definition at line 354 of file sac.h.

References rng_.

Referenced by getRandomSamples().

◆ setDistanceThreshold()

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 139 of file sac.h.

References threshold_.

◆ setMaxIterations()

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 149 of file sac.h.

References max_iterations_.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().

◆ setNumberOfThreads()

template<typename T>

void pcl::SampleConsensus< T >::setNumberOfThreads ( const int nr_threads = -1 )

inline

Set the number of threads to use or turn off parallelization.

Parameters

[in] nr_threads the number of hardware threads to use (0 sets the value automatically, a negative number turns parallelization off)

Note: Not all SAC methods have a parallel implementation. Some will ignore this setting.

Definition at line 171 of file sac.h.

References threads_.

◆ setProbability()

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 160 of file sac.h.

References probability_.

◆ setSampleConsensusModel()

template<typename T>

void pcl::SampleConsensus< T >::setSampleConsensusModel ( const SampleConsensusModelPtr & model )

inline

Set the Sample Consensus model to use.

Parameters

[in] model a Sample Consensus model

Definition at line 120 of file sac.h.

References sac_model_.

Member Data Documentation

◆ inliers_

template<typename T>

Indices pcl::SampleConsensus< T >::inliers_

protected

The indices of the points that were chosen as inliers after the last computeModel () call.

Definition at line 326 of file sac.h.

Referenced by getInliers(), and refineModel().

◆ iterations_

template<typename T>

int pcl::SampleConsensus< T >::iterations_

protected

Total number of internal loop iterations that we've done so far.

Definition at line 335 of file sac.h.

Referenced by SampleConsensus(), and SampleConsensus().

◆ max_iterations_

template<typename T>

int pcl::SampleConsensus< T >::max_iterations_

protected

Maximum number of iterations before giving up.

Definition at line 341 of file sac.h.

Referenced by getMaxIterations(), SampleConsensus(), SampleConsensus(), and setMaxIterations().

◆ model_

template<typename T>

Indices pcl::SampleConsensus< T >::model_

protected

The model found after the last computeModel () as point cloud indices.

Definition at line 323 of file sac.h.

Referenced by getModel().

◆ model_coefficients_

template<typename T>

Eigen::VectorXf pcl::SampleConsensus< T >::model_coefficients_

protected

The coefficients of our model computed directly from the model found.

Definition at line 329 of file sac.h.

Referenced by getModelCoefficients(), and refineModel().

◆ probability_

template<typename T>

double pcl::SampleConsensus< T >::probability_

protected

Desired probability of choosing at least one sample free from outliers.

Definition at line 332 of file sac.h.

Referenced by getProbability(), SampleConsensus(), SampleConsensus(), and setProbability().

◆ rng_

template<typename T>

std::shared_ptr<boost::uniform_01<boost::mt19937> > pcl::SampleConsensus< T >::rng_

protected

Boost-based random number generator distribution.

Definition at line 350 of file sac.h.

Referenced by rnd(), SampleConsensus(), and SampleConsensus().

◆ rng_alg_

template<typename T>

boost::mt19937 pcl::SampleConsensus< T >::rng_alg_

protected

Boost-based random number generator algorithm.

Definition at line 347 of file sac.h.

Referenced by SampleConsensus(), and SampleConsensus().

◆ sac_model_

template<typename T>

SampleConsensusModelPtr pcl::SampleConsensus< T >::sac_model_

protected

The underlying data model used (i.e.

what is it that we attempt to search for).

Definition at line 320 of file sac.h.

Referenced by getSampleConsensusModel(), refineModel(), SampleConsensus(), SampleConsensus(), and setSampleConsensusModel().

◆ threads_

template<typename T>

int pcl::SampleConsensus< T >::threads_

protected

The number of threads the scheduler should use, or a negative number if no parallelization is wanted.

Definition at line 344 of file sac.h.

Referenced by getNumberOfThreads(), SampleConsensus(), SampleConsensus(), and setNumberOfThreads().

◆ threshold_

template<typename T>

double pcl::SampleConsensus< T >::threshold_

protected

Distance to model threshold.

Definition at line 338 of file sac.h.

Referenced by getDistanceThreshold(), refineModel(), SampleConsensus(), SampleConsensus(), and setDistanceThreshold().

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

pcl/sample_consensus/sac.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SampleConsensus() [1/2]

◆ SampleConsensus() [2/2]

◆ ~SampleConsensus()

Member Function Documentation

◆ computeModel()

◆ getDistanceThreshold()

◆ getInliers()

◆ getMaxIterations()

◆ getModel()

◆ getModelCoefficients()

◆ getNumberOfThreads()

◆ getProbability()

◆ getRandomSamples()

◆ getSampleConsensusModel()

◆ refineModel()

◆ rnd()

◆ setDistanceThreshold()

◆ setMaxIterations()

◆ setNumberOfThreads()

◆ setProbability()

◆ setSampleConsensusModel()

Member Data Documentation

◆ inliers_

◆ iterations_

◆ max_iterations_

◆ model_

◆ model_coefficients_

◆ probability_

◆ rng_

◆ rng_alg_

◆ sac_model_

◆ threads_

◆ threshold_