Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions
pcl::RandomSampleConsensus< PointT > Class Template Reference

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 <pcl/sample_consensus/ransac.h>

+ Inheritance diagram for pcl::RandomSampleConsensus< PointT >:

List of all members.

Public Types

typedef boost::shared_ptr
< RandomSampleConsensus
Ptr
typedef boost::shared_ptr
< const RandomSampleConsensus
ConstPtr

Public Member Functions

 RandomSampleConsensus (const SampleConsensusModelPtr &model)
 RANSAC (RAndom SAmple Consensus) main constructor.
 RandomSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
 RANSAC (RAndom SAmple Consensus) main constructor.
bool computeModel (int debug_verbosity_level=0)
 Compute the actual model and find the inliers.

Detailed Description

template<typename PointT>
class pcl::RandomSampleConsensus< PointT >

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.

Author:
Radu B. Rusu

Definition at line 56 of file ransac.h.


Member Typedef Documentation

template<typename PointT>
typedef boost::shared_ptr<const RandomSampleConsensus> pcl::RandomSampleConsensus< PointT >::ConstPtr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 of file ransac.h.

template<typename PointT>
typedef boost::shared_ptr<RandomSampleConsensus> pcl::RandomSampleConsensus< PointT >::Ptr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 61 of file ransac.h.


Constructor & Destructor Documentation

template<typename PointT>
pcl::RandomSampleConsensus< PointT >::RandomSampleConsensus ( const SampleConsensusModelPtr &  model) [inline]

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters:
[in]modela Sample Consensus model

Definition at line 76 of file ransac.h.

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

template<typename PointT>
pcl::RandomSampleConsensus< PointT >::RandomSampleConsensus ( const SampleConsensusModelPtr &  model,
double  threshold 
) [inline]

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters:
[in]modela Sample Consensus model
[in]thresholddistance to model threshold

Definition at line 87 of file ransac.h.

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


Member Function Documentation

template<typename PointT >
bool pcl::RandomSampleConsensus< PointT >::computeModel ( int  debug_verbosity_level = 0) [virtual]

Compute the actual model and find the inliers.

Parameters:
[in]debug_verbosity_levelenable/disable on-screen debug information and set the verbosity level

Implements pcl::SampleConsensus< PointT >.

Definition at line 48 of file ransac.hpp.

Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().


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