Point Cloud Library (PCL)
1.11.1-dev
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43 #include <pcl/sample_consensus/sac.h>
44 #include <pcl/sample_consensus/sac_model.h>
59 template <
typename Po
intT>
65 using Ptr = shared_ptr<RandomizedRandomSampleConsensus<PointT> >;
66 using ConstPtr = shared_ptr<const RandomizedRandomSampleConsensus<PointT> >;
82 , fraction_nr_pretest_ (10.0)
94 , fraction_nr_pretest_ (10.0)
118 double fraction_nr_pretest_;
122 #ifdef PCL_NO_PRECOMPILE
123 #include <pcl/sample_consensus/impl/rransac.hpp>
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (Randomized RANdom SAmple Consensus) main constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.
double getFractionNrPretest() const
Get the percentage of points to pre-test.
shared_ptr< RandomizedRandomSampleConsensus< PointT > > Ptr
shared_ptr< SampleConsensusModel< PointT > > Ptr
shared_ptr< const RandomizedRandomSampleConsensus< PointT > > ConstPtr
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RANdom SAmple...
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
SampleConsensus represents the base class.
int max_iterations_
Maximum number of iterations before giving up.