43#include <pcl/sample_consensus/sac.h>
44#include <pcl/sample_consensus/sac_model.h>
55 template <
typename Po
intT>
61 using Ptr = shared_ptr<RandomizedMEstimatorSampleConsensus<PointT> >;
62 using ConstPtr = shared_ptr<const RandomizedMEstimatorSampleConsensus<PointT> >;
78 , fraction_nr_pretest_ (-1.0)
79 , nr_samples_pretest_ (1)
91 , fraction_nr_pretest_ (-1.0)
92 , nr_samples_pretest_ (1)
111 fraction_nr_pretest_ = nr_pretest;
112 nr_samples_pretest_ = 0;
126 nr_samples_pretest_ = nr_pretest;
127 fraction_nr_pretest_ = -1.0;
136 double fraction_nr_pretest_;
139 std::size_t nr_samples_pretest_;
143#ifdef PCL_NO_PRECOMPILE
144#include <pcl/sample_consensus/impl/rmsac.hpp>
RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
void setNrSamplesPretest(std::size_t nr_pretest)
Set the absolute number of points to pre-test.
shared_ptr< const RandomizedMEstimatorSampleConsensus< PointT > > ConstPtr
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
std::size_t getNrSamplesPretest() const
Get the absolute number of points to pre-test.
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
shared_ptr< RandomizedMEstimatorSampleConsensus< PointT > > Ptr
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
double getFractionNrPretest() const
Get the percentage of points to pre-test.
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
SampleConsensus represents the base class.
double probability_
Desired probability of choosing at least one sample free from outliers.
Indices inliers_
The indices of the points that were chosen as inliers after the last computeModel () call.
int iterations_
Total number of internal loop iterations that we've done so far.
Indices model_
The model found after the last computeModel () as point cloud indices.
Eigen::VectorXf model_coefficients_
The coefficients of our model computed directly from the model found.
double threshold_
Distance to model threshold.
SampleConsensusModelPtr sac_model_
The underlying data model used (i.e.
int max_iterations_
Maximum number of iterations before giving up.
shared_ptr< SampleConsensusModel< PointT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.