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>
Inheritance diagram for pcl::cuda::RandomSampleConsensus< Storage >:
Collaboration diagram for pcl::cuda::RandomSampleConsensus< Storage >:
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... | |
| Public Member Functions inherited from pcl::cuda::SampleConsensus< Storage > | |
| 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 | |
| Public Types inherited from pcl::cuda::SampleConsensus< Storage > | |
| 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 > |
| Protected Attributes inherited from pcl::cuda::SampleConsensus< Storage > | |
| 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... | |
Detailed Description
template<template< typename > class Storage>
class pcl::cuda::RandomSampleConsensus< Storage >
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.
Constructor & Destructor Documentation
◆ RandomSampleConsensus() [1/2]
|
inline |
RANSAC (RAndom SAmple Consensus) main constructor.
- Parameters
-
model a Sample Consensus model
Definition at line 76 of file ransac.h.
References pcl::cuda::SampleConsensus< Storage >::max_iterations_.
◆ RandomSampleConsensus() [2/2]
|
inline |
RANSAC (RAndom SAmple Consensus) main constructor.
- Parameters
-
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_.
Member Function Documentation
◆ computeModel()
|
virtual |
Compute the actual model and find the inliers.
- Parameters
-
debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
Implements pcl::cuda::SampleConsensus< Storage >.
The documentation for this class was generated from the following file:
- /__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/ransac.h