Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SampleConsensus< T > Class Template Referenceabstract

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

Protected Member Functions

double rnd ()
 Boost-based random number generator. More...
 

Protected Attributes

SampleConsensusModelPtr sac_model_
 The underlying data model used (i.e. More...
 
Indices model_
 The model found after the last computeModel () as point cloud indices. More...
 
Indices inliers_
 The indices of the points that were chosen as inliers after the last computeModel () call. More...
 
Eigen::VectorXf model_coefficients_
 The coefficients of our model computed directly from the model found. More...
 
double probability_
 Desired probability of choosing at least one sample free from outliers. More...
 
int iterations_
 Total number of internal loop iterations that we've done so far. More...
 
double threshold_
 Distance to model threshold. More...
 
int max_iterations_
 Maximum number of iterations before giving up. More...
 
int threads_
 The number of threads the scheduler should use, or a negative number if no parallelization is wanted. More...
 
boost::mt19937 rng_alg_
 Boost-based random number generator algorithm. More...
 
std::shared_ptr< boost::uniform_01< boost::mt19937 > > rng_
 Boost-based random number generator distribution. 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 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]modela Sample Consensus model
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 77 of file sac.h.

References pcl::SampleConsensus< T >::rng_.

◆ 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]modela Sample Consensus model
[in]thresholddistance to model threshold
[in]randomif true set the random seed to the current time, else set to 12345 (default: false)

Definition at line 98 of file sac.h.

References pcl::SampleConsensus< T >::rng_.

◆ ~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

◆ 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 pcl::SampleConsensus< T >::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]inliersthe resultant set of inliers

Definition at line 310 of file sac.h.

References pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::max_iterations_.

◆ getModel()

template<typename T >
void pcl::SampleConsensus< T >::getModel ( Indices model) const
inline

Return the best model found so far.

Parameters
[out]modelthe resultant model

Definition at line 304 of file sac.h.

References pcl::SampleConsensus< T >::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_coefficientsthe resultant model coefficients, as documented in Module sample_consensus

Definition at line 316 of file sac.h.

References pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::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]indicesthe input indices vector
[in]nr_samplesthe desired number of point indices to randomly select
[out]indices_subsetthe resultant output set of randomly selected indices

Definition at line 290 of file sac.h.

References pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::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]sigmastandard deviation multiplier for considering a sample as inlier (Mahalanobis distance)
[in]max_iterationsthe maxim number of iterations to try to refine in case the inliers keep on changing

Definition at line 189 of file sac.h.

References pcl::SampleConsensus< T >::inliers_, pcl::SampleConsensus< T >::model_coefficients_, pcl::SampleConsensus< T >::sac_model_, and pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::rng_.

Referenced by pcl::SampleConsensus< T >::getRandomSamples().

◆ setDistanceThreshold()

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

Set the distance to model threshold.

Parameters
[in]thresholddistance to model threshold

Definition at line 139 of file sac.h.

References pcl::SampleConsensus< T >::threshold_.

◆ setMaxIterations()

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

◆ 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_threadsthe 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 pcl::SampleConsensus< T >::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]probabilitythe 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 pcl::SampleConsensus< T >::probability_.

◆ setSampleConsensusModel()

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

Set the Sample Consensus model to use.

Parameters
[in]modela Sample Consensus model

Definition at line 120 of file sac.h.

References pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::getInliers(), and pcl::SampleConsensus< T >::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.

◆ 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 pcl::SampleConsensus< T >::getMaxIterations(), and pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::getModelCoefficients(), and pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::getProbability(), and pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::rnd(), and pcl::SampleConsensus< T >::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.

◆ 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 pcl::SampleConsensus< T >::getSampleConsensusModel(), pcl::SampleConsensus< T >::refineModel(), and pcl::SampleConsensus< T >::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 pcl::SampleConsensus< T >::getNumberOfThreads(), and pcl::SampleConsensus< T >::setNumberOfThreads().

◆ threshold_

template<typename T >
double pcl::SampleConsensus< T >::threshold_
protected

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