Public Member Functions | List of all members
sample_consensus::RANSAC Class Reference

#include <ransac.h>

Inheritance diagram for sample_consensus::RANSAC:
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Public Member Functions

bool computeModel (int debug=0)
 Compute the actual model and find the inliers. More...
 
 RANSAC (SACModel *model)
 RANSAC (RAndom SAmple Consensus) main constructor. More...
 
 RANSAC (SACModel *model, double threshold)
 RANSAC (RAndom SAmple Consensus) main constructor. More...
 
virtual ~RANSAC ()
 
- Public Member Functions inherited from sample_consensus::SAC
virtual void computeCoefficients (std::vector< double > &coefficients)
 Compute the coefficients of the model and return them. More...
 
virtual std::vector< int > getInliers ()
 Get a list of the model inliers, found after computeModel () More...
 
PointCloud getPointCloud (std::vector< int > indices)
 Return the point cloud representing a set of given indices. More...
 
std::set< int > getRandomSamples (PointCloud points, int nr_samples)
 Get a set of randomly selected indices. More...
 
std::set< int > getRandomSamples (PointCloud points, std::vector< int > indices, int nr_samples)
 Get a vector of randomly selected indices. More...
 
virtual void projectPointsToModel (const std::vector< int > &indices, const std::vector< double > &model_coefficients, PointCloud &projected_points)
 Project a set of given points (using their indices) onto the model and return their projections. More...
 
virtual void refineCoefficients (std::vector< double > &refined_coefficients)
 Use Least-Squares optimizations to refine the coefficients of the model, and return them. More...
 
virtual int removeInliers ()
 Remove the model inliers from the list of data indices. Returns the number of indices left. More...
 
 SAC ()
 Constructor for base SAC. More...
 
 SAC (SACModel *model)
 Constructor for base SAC. More...
 
virtual void setMaxIterations (int max_iterations)
 Set the maximum number of iterations. More...
 
virtual void setProbability (double probability)
 Set the desired probability of choosing at least one sample free from outliers. More...
 
virtual void setThreshold (double threshold)
 Set the threshold to model. More...
 
virtual ~SAC ()
 Destructor for base SAC. More...
 

Additional Inherited Members

- Protected Attributes inherited from sample_consensus::SAC
int iterations_
 Total number of internal loop iterations that we've done so far. More...
 
int max_iterations_
 Maximum number of iterations before giving up. More...
 
double probability_
 Desired probability of choosing at least one sample free from outliers. More...
 
SACModelsac_model_
 The underlying data model used (i.e. what is it that we attempt to search for). More...
 
double threshold_
 Distance to model threshold. More...
 

Detailed Description

Definition at line 41 of file ransac.h.

Constructor & Destructor Documentation

sample_consensus::RANSAC::RANSAC ( SACModel model)

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters
modela Sample Consensus model

Definition at line 58 of file ransac.cpp.

sample_consensus::RANSAC::RANSAC ( SACModel model,
double  threshold 
)

RANSAC (RAndom SAmple Consensus) main constructor.

Parameters
modela Sample Consensus model
thresholddistance to model threshold

Definition at line 43 of file ransac.cpp.

virtual sample_consensus::RANSAC::~RANSAC ( )
inlinevirtual

Definition at line 48 of file ransac.h.

Member Function Documentation

bool sample_consensus::RANSAC::computeModel ( int  debug = 0)
virtual

Compute the actual model and find the inliers.

Parameters
debugenable/disable on-screen debug information

Implements sample_consensus::SAC.

Definition at line 65 of file ransac.cpp.


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


semantic_point_annotator
Author(s): Radu Bogdan Rusu
autogenerated on Mon Jun 10 2019 14:29:03