40#include <pcl/cuda/sample_consensus/sac.h>
41#include <pcl/cuda/sample_consensus/sac_model.h>
54 template <
template <
typename>
class Storage>
RandomSampleConsensus represents an implementation of the RANSAC (RAndom SAmple Consensus) algorithm,...
RandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (RAndom SAmple Consensus) main constructor.
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
RandomSampleConsensus(const SampleConsensusModelPtr &model, float threshold)
RANSAC (RAndom SAmple Consensus) main constructor.
IndicesPtr inliers_stencil_
Indices model_
The model found after the last computeModel () as point cloud indices.
float probability_
Desired probability of choosing at least one sample free from outliers.
float threshold_
Distance to model threshold.
int max_iterations_
Maximum number of iterations before giving up.
Coefficients model_coefficients_
The coefficients of our model computed directly from the model found.
IndicesPtr inliers_
The indices of the points that were chosen as inliers after the last call.
SampleConsensusModelPtr sac_model_
The underlying data model used (what is it that we attempt to search for).
int iterations_
Total number of internal loop iterations that we've done so far.
typename Storage< float4 >::type Hypotheses
typename Storage< float >::type Coefficients
typename Storage< int >::type Indices
shared_ptr< SampleConsensusModel > Ptr