Point Cloud Library (PCL)
1.7.0
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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 <pcl/sample_consensus/ransac.h>
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. |
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.
typedef boost::shared_ptr<const RandomSampleConsensus> pcl::RandomSampleConsensus< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef boost::shared_ptr<RandomSampleConsensus> pcl::RandomSampleConsensus< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
pcl::RandomSampleConsensus< PointT >::RandomSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
RANSAC (RAndom SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
Definition at line 76 of file ransac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
pcl::RandomSampleConsensus< PointT >::RandomSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
double | threshold | ||
) | [inline] |
RANSAC (RAndom SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
[in] | threshold | distance to model threshold |
Definition at line 87 of file ransac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
bool pcl::RandomSampleConsensus< PointT >::computeModel | ( | int | debug_verbosity_level = 0 | ) | [virtual] |
Compute the actual model and find the inliers.
[in] | debug_verbosity_level | enable/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().