Point Cloud Library (PCL)
1.11.1-dev
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40 #include <pcl/cuda/sample_consensus/sac.h>
41 #include <pcl/cuda/sample_consensus/sac_model.h>
54 template <
template <
typename>
class Storage>
81 min_coverage_percent_ (0.9),
83 iterations_per_batch_ (1000)
113 min_coverage_percent_ = percent;
124 max_batches_ = max_batches_;
135 iterations_per_batch_ = iterations_per_batch;
138 inline std::vector<IndicesPtr>
141 inline std::vector<int>
146 inline std::vector<float4>
149 return all_model_coefficients_;
154 inline std::vector<float3>
157 return all_model_centroids_;
161 float min_coverage_percent_;
162 unsigned int max_batches_;
163 unsigned int iterations_per_batch_;
166 std::vector<float3> all_model_centroids_;
169 std::vector<float4> all_model_coefficients_;
171 std::vector<IndicesPtr> all_inliers_;
172 std::vector<int> all_inlier_counts_;
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...
std::vector< float3 > getAllModelCentroids()
Return the model coefficients of the best model found so far.
MultiRandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RAndom SAmple Consensus) main constructor.
typename Storage< float4 >::type Hypotheses
void setMinimumCoverage(float percent)
how much (in percent) of the point cloud should be covered? If it is not possible to find enough plan...
shared_ptr< SampleConsensusModel > Ptr
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
shared_ptr< const typename Storage< int >::type > IndicesConstPtr
std::vector< int > getAllInlierCounts()
typename Storage< float >::type Coefficients
std::vector< IndicesPtr > getAllInliers()
typename Storage< int >::type Indices
void setMaximumBatches(int max_batches)
Sets the maximum number of batches that should be processed.
MultiRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
int max_iterations_
Maximum number of iterations before giving up.
shared_ptr< typename Storage< int >::type > IndicesPtr
void setIerationsPerBatch(int iterations_per_batch)
Sets the maximum number of batches that should be processed.
std::vector< float4 > getAllModelCoefficients()
Return the model coefficients of the best model found so far.