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<RandomizedRandomSampleConsensus<PointT> >;
62 using ConstPtr = shared_ptr<const RandomizedRandomSampleConsensus<PointT> >;
78 , fraction_nr_pretest_ (10.0)
90 , fraction_nr_pretest_ (10.0)
114 double fraction_nr_pretest_;
118 #ifdef PCL_NO_PRECOMPILE 119 #include <pcl/sample_consensus/impl/rransac.hpp> double getFractionNrPretest() const
Get the percentage of points to pre-test.
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
shared_ptr< const RandomizedRandomSampleConsensus< PointT > > ConstPtr
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple...
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (RAndom SAmple Consensus) main constructor.
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (Randomized RAndom SAmple Consensus) main constructor.
shared_ptr< RandomizedRandomSampleConsensus< PointT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.
shared_ptr< SampleConsensusModel< PointT > > Ptr
int max_iterations_
Maximum number of iterations before giving up.
SampleConsensus represents the base class.