ransac implementation

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Hi! I'm trying to get real time position from some pointclouds received by sensor. I computed relative distance between frames in which was possible. Do you know maybe how can i get good approximation of distances which i can't compute because of small amount of information. I know that pcl library has implemented ransac but does he compute just inliners and outliners or whole model from which I can read these approximated distances? And if he can how can I read these? Kind regard!