iLab Neuromorphic Robotics Toolkit  0.1
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nrt::SampleConcensusBase Class Referenceabstract

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

Interface for all sample concensus methods.

Definition at line 45 of file SampleConcensusBase.H.

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

Public Member Functions

 SampleConcensusBase ()=default
 Constructor.
 
virtual ~SampleConcensusBase ()
 Virtual destructor.
 
virtual bool evaluate (ModelBase::SharedPtr const model)=0
 Attempts to compute a set of inliers using some model. More...
 
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.
 

Protected Attributes

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.
 

Member Function Documentation

virtual bool nrt::SampleConcensusBase::evaluate ( ModelBase::SharedPtr const  model)
pure virtual

Attempts to compute a set of inliers using some model.

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

Implemented in nrt::RandomSampleConcensus.


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