38 #ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_
39 #define PCL_CUDA_SAMPLE_CONSENSUS_H_
41 #include <pcl/cuda/sample_consensus/sac_model.h>
42 #include <pcl/cuda/point_cloud.h>
50 template <
template <
typename>
class Storage>
69 typedef boost::shared_ptr<SampleConsensus>
Ptr;
70 typedef boost::shared_ptr<const SampleConsensus>
ConstPtr;
201 #endif //#ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_
int getMaxIterations()
Get the maximum number of iterations, as set by the user.
SampleConsensus(const SampleConsensusModelPtr &model, float threshold)
Constructor for base SAC.
virtual ~SampleConsensus()
Destructor for base SAC.
virtual bool computeModel(int debug_verbosity_level=0)=0
Compute the actual model.
void getModelCoefficients(Coefficients &model_coefficients)
Return the model coefficients of the best model found so far.
boost::shared_ptr< const SampleConsensus > ConstPtr
float getProbability()
Obtain the probability of choosing at least one sample free from outliers, as set by the user...
boost::shared_ptr< typename Storage< int >::type > IndicesPtr
This file defines compatibility wrappers for low level I/O functions.
void setDistanceThreshold(float threshold)
Set the distance to model threshold.
float probability_
Desired probability of choosing at least one sample free from outliers.
SampleConsensus(const SampleConsensusModelPtr &model)
Constructor for base SAC.
boost::shared_ptr< const typename Storage< int >::type > IndicesConstPtr
IndicesPtr getInliers()
Return the best set of inliers found so far for this model.
Storage< int >::type Indices
Coefficients model_coefficients_
The coefficients of our model computed directly from the model found.
Storage< float >::type Coefficients
int iterations_
Total number of internal loop iterations that we've done so far.
void setMaxIterations(int max_iterations)
Set the maximum number of iterations.
void getModel(Indices &model)
Return the best model found so far.
boost::shared_ptr< const Coefficients > CoefficientsConstPtr
Storage< float4 >::type Hypotheses
boost::shared_ptr< SampleConsensusModel > Ptr
void setProbability(float probability)
Set the desired probability of choosing at least one sample free from outliers.
boost::shared_ptr< Coefficients > CoefficientsPtr
IndicesPtr inliers_
The indices of the points that were chosen as inliers after the last call.
boost::shared_ptr< SampleConsensus > Ptr
float getDistanceThreshold()
Get the distance to model threshold, as set by the user.
float threshold_
Distance to model threshold.
int max_iterations_
Maximum number of iterations before giving up.
IndicesPtr inliers_stencil_
SampleConsensusModelPtr sac_model_
The underlying data model used (what is it that we attempt to search for).
IndicesPtr getInliersStencil()
Indices model_
The model found after the last computeModel () as point cloud indices.