41 #ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_ 42 #define PCL_SAMPLE_CONSENSUS_RMSAC_H_ 45 #include <pcl/sample_consensus/sac.h> 46 #include <pcl/sample_consensus/sac_model.h> 57 template <
typename Po
intT>
63 typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus>
Ptr;
64 typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus>
ConstPtr;
80 , fraction_nr_pretest_ (10.0)
92 , fraction_nr_pretest_ (10.0)
116 double fraction_nr_pretest_;
120 #ifdef PCL_NO_PRECOMPILE 121 #include <pcl/sample_consensus/impl/rmsac.hpp> 124 #endif //#ifndef PCL_SAMPLE_CONSENSUS_RMSAC_H_ RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
This file defines compatibility wrappers for low level I/O functions.
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
boost::shared_ptr< SampleConsensusModel > Ptr
double getFractionNrPretest()
Get the percentage of points to pre-test.
A point structure representing Euclidean xyz coordinates, and the RGB color.
boost::shared_ptr< RandomizedMEstimatorSampleConsensus > Ptr
int max_iterations_
Maximum number of iterations before giving up.
SampleConsensus represents the base class.
boost::shared_ptr< const RandomizedMEstimatorSampleConsensus > ConstPtr