Point Cloud Library (PCL)
1.14.1-dev
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RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A. More...
#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h>
Public Member Functions | |
RandomSampleConsensus (const SampleConsensusModelPtr &model) | |
RANSAC (RAndom SAmple Consensus) main constructor. More... | |
RandomSampleConsensus (const SampleConsensusModelPtr &model, float threshold) | |
RANSAC (RAndom SAmple Consensus) main constructor. More... | |
bool | computeModel (int debug_verbosity_level=0) |
Compute the actual model and find the inliers. More... | |
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SampleConsensus (const SampleConsensusModelPtr &model) | |
Constructor for base SAC. More... | |
SampleConsensus (const SampleConsensusModelPtr &model, float threshold) | |
Constructor for base SAC. More... | |
virtual | ~SampleConsensus ()=default |
Destructor for base SAC. More... | |
void | setDistanceThreshold (float threshold) |
Set the distance to model threshold. More... | |
float | getDistanceThreshold () |
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 () |
Get the maximum number of iterations, as set by the user. More... | |
void | setProbability (float probability) |
Set the desired probability of choosing at least one sample free from outliers. More... | |
float | getProbability () |
Obtain the probability of choosing at least one sample free from outliers, as set by the user. More... | |
void | getModel (Indices &model) |
Return the best model found so far. More... | |
IndicesPtr | getInliers () |
Return the best set of inliers found so far for this model. More... | |
IndicesPtr | getInliersStencil () |
void | getModelCoefficients (Coefficients &model_coefficients) |
Return the model coefficients of the best model found so far. More... | |
Additional Inherited Members | |
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using | Coefficients = typename Storage< float >::type |
using | CoefficientsPtr = shared_ptr< Coefficients > |
using | CoefficientsConstPtr = shared_ptr< const Coefficients > |
using | Ptr = shared_ptr< SampleConsensus > |
using | ConstPtr = shared_ptr< const SampleConsensus > |
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SampleConsensusModelPtr | sac_model_ |
The underlying data model used (what is it that we attempt to search for). More... | |
Indices | model_ |
The model found after the last computeModel () as point cloud indices. More... | |
IndicesPtr | inliers_ |
The indices of the points that were chosen as inliers after the last call. More... | |
IndicesPtr | inliers_stencil_ |
Coefficients | model_coefficients_ |
The coefficients of our model computed directly from the model found. More... | |
float | 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... | |
float | threshold_ |
Distance to model threshold. More... | |
int | max_iterations_ |
Maximum number of iterations before giving up. More... | |
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm, as described in: "Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography", Martin A.
Fischler and Robert C. Bolles, Comm. Of the ACM 24: 381–395, June 1981.
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inline |
RANSAC (RAndom SAmple Consensus) main constructor.
model | a Sample Consensus model |
Definition at line 76 of file ransac.h.
References pcl::cuda::SampleConsensus< Storage >::max_iterations_.
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inline |
RANSAC (RAndom SAmple Consensus) main constructor.
model | a Sample Consensus model |
threshold | distance to model threshold |
Definition at line 87 of file ransac.h.
References pcl::cuda::SampleConsensus< Storage >::max_iterations_.
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virtual |
Compute the actual model and find the inliers.
debug_verbosity_level | enable/disable on-screen debug information and set the verbosity level |
Implements pcl::cuda::SampleConsensus< Storage >.