44 #include <pcl/sample_consensus/sac.h>
45 #include <pcl/sample_consensus/sac_model.h>
56 template <
typename Po
intT>
62 using Ptr = shared_ptr<RandomizedMEstimatorSampleConsensus<PointT> >;
63 using ConstPtr = shared_ptr<const RandomizedMEstimatorSampleConsensus<PointT> >;
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/rmsac.hpp>
RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator...
shared_ptr< const RandomizedMEstimatorSampleConsensus< PointT > > ConstPtr
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model, double threshold)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
shared_ptr< RandomizedMEstimatorSampleConsensus< PointT > > Ptr
RandomizedMEstimatorSampleConsensus(const SampleConsensusModelPtr &model)
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
double getFractionNrPretest() const
Get the percentage of points to pre-test.
void setFractionNrPretest(double nr_pretest)
Set the percentage of points to pre-test.
SampleConsensus represents the base class.
int max_iterations_
Maximum number of iterations before giving up.
shared_ptr< SampleConsensusModel< PointT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.