PTK Point Cloud based RANSAC

Introduction

Collaboration diagram for PTK Point Cloud based RANSAC:

Functions
uint32_t	PTK_PointCloud_ransacPlane (const PTK_PointCloud *pc, const uint32_t *__restrict ids, uint32_t N, float tol, uint32_t iters, float *nd, uint32_t *__restrict foundInliers)

Function Documentation

PTK_PointCloud_ransacPlane()

uint32_t PTK_PointCloud_ransacPlane	(	const PTK_PointCloud *	pc,
		const uint32_t *__restrict	ids,
		uint32_t	N,
		float	tol,
		uint32_t	iters,
		float *	nd,
		uint32_t *__restrict	foundInliers
	)

Parameters

[in]	pc	Input point cloud.
[in]	ids	array of length N. Indices of the points in the point cloud pc that should be considered for ransac fit.
[in]	N	Length of ids array.
[in]	tol	RANSAC tolerance (if error < tol ? inlier, otherwise ? outlier). Error is computed as Euclidean distance from the proposed plane.
[in]	iters	Number of RANSAC iterations to perform.
[out]	nd	Array of length 4. First 3 elements are unit normal vector of the plane, 4th element is the plane distance from the origin.

A point (x,y,z) on the plane satisfies nd[0]*x + nd[1]*y + nd[2]*z - nd[3]==0.

Parameters

[out]

foundInliers

Array of length "return value" with indices in point cloud pc found to be inliers

Returns