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Need help setting RANSAC input parameters

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zshah

Need help setting RANSAC input parameters

Hi,

I'm new to PCL, and am trying to use RANSAC to fit lines within the octree leaf voxels of my 3D point cloud.

I would like to specify the following input parameter as defined in the RANSAC pseudocode found at http://en.wikipedia.org/wiki/RANSAC:

"d - the number of close data values required to assert that a model fits well to data"

What I want is to only accept models which have at least 50 inliers. I've looked at the API documentation, but cannot find a way to set this parameter. Maybe I'm missing something pretty obvious...

Can somebody please help?

Thanks,
Zehra Shah

Radu B. Rusu

Re: Need help setting RANSAC input parameters

Administrator

So you're looking for something like:

--------------
...
n_inliers_count = sac_model_->countWithinDistance (model_coefficients, threshold_);

if (n_inliers_count < predefined_min_user_count_)
{
++ skipped_count;
continue;
}

// Better match ?
if (n_inliers_count > n_best_inliers_count)
{
...
--------------

?

Cheers,
Radu.
--
http://openperception.org

On 07/31/2012 12:23 PM, zshah wrote:

> Hi,
>
> I'm new to PCL, and am trying to use RANSAC to fit lines within the octree
> leaf voxels of my 3D point cloud.
>
> I would like to specify the following input parameter as defined in the
> RANSAC pseudocode found at http://en.wikipedia.org/wiki/RANSAC
> http://en.wikipedia.org/wiki/RANSAC :
>
> "d - the number of close data values required to assert that a model fits
> well to data"
>
> What I want is to only accept models which have at least 50 inliers. I've
> looked at the API documentation, but cannot find a way to set this
> parameter. Maybe I'm missing something pretty obvious...
>
> Can somebody please help?
>
> Thanks,
> Zehra Shah
>
>
>
> --
> View this message in context: http://www.pcl-users.org/Need-help-setting-RANSAC-input-parameters-tp4020955.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users
>

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