#include </__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h>

Inheritance diagram for pcl::cuda::SampleConsensus< Storage >:

Collaboration diagram for pcl::cuda::SampleConsensus< Storage >:

Public Types
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 >

Public Member Functions
	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...

virtual bool	computeModel (int debug_verbosity_level=0)=0
	Compute the actual model. 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...

Protected Attributes
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::SampleConsensus< Storage >

Definition at line 50 of file sac.h.

Member Typedef Documentation

◆ Coefficients

template<template< typename > class Storage>

using pcl::cuda::SampleConsensus< Storage >::Coefficients = typename Storage<float>::type

Definition at line 64 of file sac.h.

◆ CoefficientsConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensus< Storage >::CoefficientsConstPtr = shared_ptr <const Coefficients>

Definition at line 66 of file sac.h.

◆ CoefficientsPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensus< Storage >::CoefficientsPtr = shared_ptr <Coefficients>

Definition at line 65 of file sac.h.

◆ ConstPtr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensus< Storage >::ConstPtr = shared_ptr<const SampleConsensus>

Definition at line 69 of file sac.h.

◆ Ptr

template<template< typename > class Storage>

using pcl::cuda::SampleConsensus< Storage >::Ptr = shared_ptr<SampleConsensus>

Definition at line 68 of file sac.h.

Constructor & Destructor Documentation

◆ SampleConsensus() [1/2]

template<template< typename > class Storage>

pcl::cuda::SampleConsensus< Storage >::SampleConsensus ( const SampleConsensusModelPtr & model )

inline

Constructor for base SAC.

Parameters

model a Sample Consensus model

Definition at line 74 of file sac.h.

◆ SampleConsensus() [2/2]

template<template< typename > class Storage>

pcl::cuda::SampleConsensus< Storage >::SampleConsensus	(	const SampleConsensusModelPtr &	model,
		float	threshold
	)

inline

Constructor for base SAC.

Parameters

model	a Sample Consensus model
threshold	distance to model threshold

Definition at line 83 of file sac.h.

◆ ~SampleConsensus()

template<template< typename > class Storage>

virtual pcl::cuda::SampleConsensus< Storage >::~SampleConsensus ( )

virtualdefault

Destructor for base SAC.

Member Function Documentation

◆ computeModel()

template<template< typename > class Storage>

virtual bool pcl::cuda::SampleConsensus< Storage >::computeModel ( int debug_verbosity_level = 0 )

pure virtual

Compute the actual model.

Pure virtual.

Implemented in pcl::cuda::RandomSampleConsensus< Storage >, and pcl::cuda::MultiRandomSampleConsensus< Storage >.

◆ getDistanceThreshold()

template<template< typename > class Storage>

float pcl::cuda::SampleConsensus< Storage >::getDistanceThreshold ( )

inline

Get the distance to model threshold, as set by the user.

Definition at line 99 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::threshold_.

◆ getInliers()

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensus< Storage >::getInliers ( )

inline

Return the best set of inliers found so far for this model.

Definition at line 155 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::inliers_.

◆ getInliersStencil()

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensus< Storage >::getInliersStencil ( )

inline

Definition at line 160 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::inliers_stencil_.

◆ getMaxIterations()

template<template< typename > class Storage>

int pcl::cuda::SampleConsensus< Storage >::getMaxIterations ( )

inline

Get the maximum number of iterations, as set by the user.

Definition at line 109 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::max_iterations_.

◆ getModel()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensus< Storage >::getModel ( Indices & model )

inline

Return the best model found so far.

Parameters

model the resultant model

Definition at line 148 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::model_.

◆ getModelCoefficients()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensus< Storage >::getModelCoefficients ( Coefficients & model_coefficients )

inline

Return the model coefficients of the best model found so far.

Parameters

model_coefficients the resultant model coefficients

Definition at line 166 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::model_coefficients_.

◆ getProbability()

template<template< typename > class Storage>

float pcl::cuda::SampleConsensus< Storage >::getProbability ( )

inline

Obtain the probability of choosing at least one sample free from outliers, as set by the user.

Definition at line 124 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::probability_.

◆ setDistanceThreshold()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensus< Storage >::setDistanceThreshold ( float threshold )

inline

Set the distance to model threshold.

Parameters

threshold distance to model threshold

Definition at line 95 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::threshold_.

◆ setMaxIterations()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensus< Storage >::setMaxIterations ( int max_iterations )

inline

Set the maximum number of iterations.

Parameters

max_iterations maximum number of iterations

Definition at line 105 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::max_iterations_.

◆ setProbability()

template<template< typename > class Storage>

void pcl::cuda::SampleConsensus< Storage >::setProbability ( float probability )

inline

Set the desired probability of choosing at least one sample free from outliers.

Parameters

probability the desired probability of choosing at least one sample free from outliers

Note: internally, the probability is set to 99% (0.99) by default.

Definition at line 118 of file sac.h.

References pcl::cuda::SampleConsensus< Storage >::probability_.

Member Data Documentation

◆ inliers_

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensus< Storage >::inliers_

protected

The indices of the points that were chosen as inliers after the last call.

Definition at line 179 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getInliers().

◆ inliers_stencil_

template<template< typename > class Storage>

IndicesPtr pcl::cuda::SampleConsensus< Storage >::inliers_stencil_

protected

Definition at line 180 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getInliersStencil().

◆ iterations_

template<template< typename > class Storage>

int pcl::cuda::SampleConsensus< Storage >::iterations_

protected

Total number of internal loop iterations that we've done so far.

Definition at line 189 of file sac.h.

◆ max_iterations_

template<template< typename > class Storage>

int pcl::cuda::SampleConsensus< Storage >::max_iterations_

protected

Maximum number of iterations before giving up.

Definition at line 195 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getMaxIterations(), pcl::cuda::MultiRandomSampleConsensus< Storage >::MultiRandomSampleConsensus(), pcl::cuda::RandomSampleConsensus< Storage >::RandomSampleConsensus(), and pcl::cuda::SampleConsensus< Storage >::setMaxIterations().

◆ model_

template<template< typename > class Storage>

Indices pcl::cuda::SampleConsensus< Storage >::model_

protected

The model found after the last computeModel () as point cloud indices.

Definition at line 176 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getModel().

◆ model_coefficients_

template<template< typename > class Storage>

Coefficients pcl::cuda::SampleConsensus< Storage >::model_coefficients_

protected

The coefficients of our model computed directly from the model found.

Definition at line 183 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getModelCoefficients().

◆ probability_

template<template< typename > class Storage>

float pcl::cuda::SampleConsensus< Storage >::probability_

protected

Desired probability of choosing at least one sample free from outliers.

Definition at line 186 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getProbability(), and pcl::cuda::SampleConsensus< Storage >::setProbability().

◆ sac_model_

template<template< typename > class Storage>

SampleConsensusModelPtr pcl::cuda::SampleConsensus< Storage >::sac_model_

protected

The underlying data model used (what is it that we attempt to search for).

Definition at line 173 of file sac.h.

◆ threshold_

template<template< typename > class Storage>

float pcl::cuda::SampleConsensus< Storage >::threshold_

protected

Distance to model threshold.

Definition at line 192 of file sac.h.

Referenced by pcl::cuda::SampleConsensus< Storage >::getDistanceThreshold(), and pcl::cuda::SampleConsensus< Storage >::setDistanceThreshold().

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

/__w/1/s/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<template< typename > class Storage> class pcl::cuda::SampleConsensus< Storage >

Member Typedef Documentation

◆ Coefficients

◆ CoefficientsConstPtr

◆ CoefficientsPtr

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ SampleConsensus() [1/2]

◆ SampleConsensus() [2/2]

◆ ~SampleConsensus()

Member Function Documentation

◆ computeModel()

◆ getDistanceThreshold()

◆ getInliers()

◆ getInliersStencil()

◆ getMaxIterations()

◆ getModel()

◆ getModelCoefficients()

◆ getProbability()

◆ setDistanceThreshold()

◆ setMaxIterations()

◆ setProbability()

Member Data Documentation

◆ inliers_

◆ inliers_stencil_

◆ iterations_

◆ max_iterations_

◆ model_

◆ model_coefficients_

◆ probability_

◆ sac_model_

◆ threshold_

template<template< typename > class Storage>
class pcl::cuda::SampleConsensus< Storage >