#include <ransac.h>
Inheritance diagram for sample_consensus::RANSAC:
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... | |
| SACModel * | sac_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
Constructor & Destructor Documentation
| sample_consensus::RANSAC::RANSAC | ( | SACModel * | model | ) |
RANSAC (RAndom SAmple Consensus) main constructor.
- Parameters
-
model a 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
-
model a Sample Consensus model threshold distance to model threshold
Definition at line 43 of file ransac.cpp.
Member Function Documentation
|
virtual |
Compute the actual model and find the inliers.
- Parameters
-
debug enable/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: