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.
Definition at line 56 of file ransac.h.
| 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 |
) | [inline, 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.
References pcl::SampleConsensus< PointT >::inliers_, pcl::SampleConsensus< PointT >::iterations_, pcl::SampleConsensus< PointT >::max_iterations_, pcl::SampleConsensus< PointT >::model_, pcl::SampleConsensus< PointT >::model_coefficients_, pcl::SampleConsensus< PointT >::probability_, pcl::SampleConsensus< PointT >::sac_model_, and pcl::SampleConsensus< PointT >::threshold_.
Referenced by pcl::registration::CorrespondenceRejectorSampleConsensus2D< PointT >::getRemainingCorrespondences(), and pcl::registration::CorrespondenceRejectorSampleConsensus< PointT >::getRemainingCorrespondences().
