Point Cloud Library (PCL)
1.11.1-dev
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40 #include <pcl/cuda/sample_consensus/sac_model.h>
41 #include <pcl/cuda/point_cloud.h>
49 template <
template <
typename>
class Storage>
68 using Ptr = shared_ptr<SampleConsensus>;
69 using ConstPtr = shared_ptr<const SampleConsensus>;
int iterations_
Total number of internal loop iterations that we've done so far.
shared_ptr< Indices > IndicesPtr
void setDistanceThreshold(float threshold)
Set the distance to model threshold.
float threshold_
Distance to model threshold.
Coefficients model_coefficients_
The coefficients of our model computed directly from the model found.
shared_ptr< SampleConsensus > Ptr
shared_ptr< const SampleConsensus > ConstPtr
IndicesPtr getInliers()
Return the best set of inliers found so far for this model.
Indices model_
The model found after the last computeModel () as point cloud indices.
typename Storage< float4 >::type Hypotheses
virtual ~SampleConsensus()
Destructor for base SAC.
shared_ptr< SampleConsensusModel > Ptr
shared_ptr< Coefficients > CoefficientsPtr
shared_ptr< const typename Storage< int >::type > IndicesConstPtr
IndicesPtr inliers_
The indices of the points that were chosen as inliers after the last call.
SampleConsensus(const SampleConsensusModelPtr &model, float threshold)
Constructor for base SAC.
SampleConsensusModelPtr sac_model_
The underlying data model used (what is it that we attempt to search for).
float probability_
Desired probability of choosing at least one sample free from outliers.
shared_ptr< const Coefficients > CoefficientsConstPtr
IndicesPtr inliers_stencil_
void setProbability(float probability)
Set the desired probability of choosing at least one sample free from outliers.
typename Storage< int >::type Indices
int max_iterations_
Maximum number of iterations before giving up.
float getDistanceThreshold()
Get the distance to model threshold, as set by the user.
int getMaxIterations()
Get the maximum number of iterations, as set by the user.
IndicesPtr getInliersStencil()
shared_ptr< typename Storage< int >::type > IndicesPtr
virtual bool computeModel(int debug_verbosity_level=0)=0
Compute the actual model.
float getProbability()
Obtain the probability of choosing at least one sample free from outliers, as set by the user.
SampleConsensus(const SampleConsensusModelPtr &model)
Constructor for base SAC.
void getModelCoefficients(Coefficients &model_coefficients)
Return the model coefficients of the best model found so far.
void getModel(Indices &model)
Return the best model found so far.
typename Storage< float >::type Coefficients
void setMaxIterations(int max_iterations)
Set the maximum number of iterations.