Point Cloud Library (PCL)
1.8.1
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#include </build/pcl-t1m5xI/pcl-1.8.1+dfsg1/cuda/sample_consensus/include/pcl/cuda/sample_consensus/sac.h>
Public Types | |
typedef Storage< float >::type | Coefficients |
typedef boost::shared_ptr< Coefficients > | CoefficientsPtr |
typedef boost::shared_ptr< const Coefficients > | CoefficientsConstPtr |
typedef boost::shared_ptr< SampleConsensus > | Ptr |
typedef boost::shared_ptr< const SampleConsensus > | ConstPtr |
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 () |
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... | |
typedef Storage<float>::type pcl::cuda::SampleConsensus< Storage >::Coefficients |
typedef boost::shared_ptr<const Coefficients> pcl::cuda::SampleConsensus< Storage >::CoefficientsConstPtr |
typedef boost::shared_ptr<Coefficients> pcl::cuda::SampleConsensus< Storage >::CoefficientsPtr |
typedef boost::shared_ptr<const SampleConsensus> pcl::cuda::SampleConsensus< Storage >::ConstPtr |
typedef boost::shared_ptr<SampleConsensus> pcl::cuda::SampleConsensus< Storage >::Ptr |
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pure virtual |
Compute the actual model.
Pure virtual.
Implemented in pcl::cuda::MultiRandomSampleConsensus< Storage >, and pcl::cuda::RandomSampleConsensus< Storage >.
Referenced by pcl::cuda::SampleConsensus< Storage >::getProbability().
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Get the distance to model threshold, as set by the user.
Definition at line 100 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::threshold_.
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Return the best set of inliers found so far for this model.
Definition at line 156 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::inliers_.
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Definition at line 161 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::inliers_stencil_.
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Get the maximum number of iterations, as set by the user.
Definition at line 110 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::max_iterations_.
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Return the best model found so far.
model | the resultant model |
Definition at line 149 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::model_.
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Return the model coefficients of the best model found so far.
model_coefficients | the resultant model coefficients |
Definition at line 167 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::model_coefficients_.
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Obtain the probability of choosing at least one sample free from outliers, as set by the user.
Definition at line 125 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::computeModel(), and pcl::cuda::SampleConsensus< Storage >::probability_.
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Set the distance to model threshold.
threshold | distance to model threshold |
Definition at line 96 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::threshold_.
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Set the maximum number of iterations.
max_iterations | maximum number of iterations |
Definition at line 106 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::max_iterations_.
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Set the desired probability of choosing at least one sample free from outliers.
probability | the desired probability of choosing at least one sample free from outliers |
Definition at line 119 of file sac.h.
References pcl::cuda::SampleConsensus< Storage >::probability_.
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The indices of the points that were chosen as inliers after the last call.
Definition at line 180 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getInliers().
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Definition at line 181 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getInliersStencil().
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Maximum number of iterations before giving up.
Definition at line 196 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().
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The model found after the last computeModel () as point cloud indices.
Definition at line 177 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getModel().
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The coefficients of our model computed directly from the model found.
Definition at line 184 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getModelCoefficients().
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Desired probability of choosing at least one sample free from outliers.
Definition at line 187 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getProbability(), and pcl::cuda::SampleConsensus< Storage >::setProbability().
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Distance to model threshold.
Definition at line 193 of file sac.h.
Referenced by pcl::cuda::SampleConsensus< Storage >::getDistanceThreshold(), and pcl::cuda::SampleConsensus< Storage >::setDistanceThreshold().