41 #ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
42 #define PCL_SAMPLE_CONSENSUS_RRANSAC_H_
44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
56 template <
typename Po
intT>
62 typedef boost::shared_ptr<RandomizedRandomSampleConsensus>
Ptr;
63 typedef boost::shared_ptr<const RandomizedRandomSampleConsensus>
ConstPtr;
79 , fraction_nr_pretest_ (10.0)
91 , fraction_nr_pretest_ (10.0)
115 double fraction_nr_pretest_;
119 #ifdef PCL_NO_PRECOMPILE
120 #include <pcl/sample_consensus/impl/rransac.hpp>
123 #endif //#ifndef PCL_SAMPLE_CONSENSUS_RRANSAC_H_
bool computeModel(int debug_verbosity_level=0)
Compute the actual model and find the inliers.
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
boost::shared_ptr< SampleConsensusModel > Ptr
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model)
RANSAC (Randomized RAndom SAmple Consensus) main constructor.
boost::shared_ptr< const RandomizedRandomSampleConsensus > ConstPtr
RandomizedRandomSampleConsensus represents an implementation of the RRANSAC (Randomized RAndom SAmple...
double getFractionNrPretest()
Get the percentage of points to pre-test.
SampleConsensus represents the base class.
boost::shared_ptr< RandomizedRandomSampleConsensus > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.
RandomizedRandomSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RRANSAC (RAndom SAmple Consensus) main constructor.
int max_iterations_
Maximum number of iterations before giving up.