iLab Neuromorphic Robotics Toolkit  0.1
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nrt::RandomSampleConcensus Class Reference

#include <nrt/PointCloud2/SampleConcensus/RandomSampleConcensus.H>

Interface for all sample concensus methods.

Definition at line 44 of file RandomSampleConcensus.H.

Inheritance diagram for nrt::RandomSampleConcensus:
nrt::SampleConcensusBase

Public Member Functions

 RandomSampleConcensus (double probability=0.99, size_t maxIterations=1000)
 Constructor. More...
 
virtual bool evaluate (ModelBase::SharedPtr const model)
 Attempts to compute a set of inliers. More...
 
- Public Member Functions inherited from nrt::SampleConcensusBase
 SampleConcensusBase ()=default
 Constructor.
 
virtual ~SampleConcensusBase ()
 Virtual destructor.
 
Indices getModelIndices () const
 Gets the model indices found by the latest run of evaluate succeeded.
 
Indices getInliers () const
 Gets the current best set of inliers found by the latest run of evaluate that succeeded.
 
VectorX getCoefficients () const
 Gets the current best set of model coefficients found by the latest run of evaluate that succeeded.
 

Additional Inherited Members

- Protected Attributes inherited from nrt::SampleConcensusBase
ModelBase::SharedPtr itsModel
 The model to use.
 
Indices itsModelIndices
 The indices that correspond to the best model thus far.
 
Indices itsInlierIndices
 The best set of inliers found.
 
VectorX itsModelCoefficients
 The best set of model coefficients.
 

Constructor & Destructor Documentation

nrt::RandomSampleConcensus::RandomSampleConcensus ( double  probability = 0.99,
size_t  maxIterations = 1000 
)

Constructor.

Parameters
probabilityThe probability of choosing one sample free of outliers
maxIterationsThe maximum number of iterations

Member Function Documentation

virtual bool nrt::RandomSampleConcensus::evaluate ( ModelBase::SharedPtr const  model)
virtual

Attempts to compute a set of inliers.

Parameters
modelThe model to use
Returns
true if the model successfully converged on a set of inliers

Implements nrt::SampleConcensusBase.


The documentation for this class was generated from the following file: