Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

ransac computeModel() issue

I have a issue about ransac.computeModel() function.
I am coding NDT_mapping with ground_detection using RANSAC.
My NDT_mapping works successfully like this:
![image description]
however it cause mapping problem while I use RANSAC library with NDT_mapping like this:
![image description]
I find that the problem is caused by ransac.computeModel() function.

> 
pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function. function.

I am coding NDT_mapping with ground_detection using RANSAC. RANSAC.

My NDT_mapping works successfully like this: ![image description] description]

however it cause mapping problem while I use RANSAC library with NDT_mapping like this: ![image description] description]

I find that the problem is caused by ransac.computeModel() function. function.

>
pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: ![image description]

however it cause mapping problem while I use RANSAC library with NDT_mapping like this: ![image description]image description

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: ![image description]image description

however it cause mapping problem while I use RANSAC library with NDT_mapping like this: image descriptionthis:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image description

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image descriptionimage description

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image descriptionimage description

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image descriptionimage description](https://imgur.com/KVCj9u9)

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

Blockquote

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image description](https://imgur.com/KVCj9u9)](liek this)

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

Blockquote

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image description](liek this)](https://imgur.com/KVCj9u9)

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

Blockquote

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this: image description](https://imgur.com/KVCj9u9)this:

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

Blockquote

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully like this:successfully

however it cause mapping problem while I use RANSAC library with NDT_mapping like this:NDT_mapping

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

Blockquote

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfullysuccessfully,

however it cause mapping problem while I use RANSAC library with NDT_mappingNDT_mapping.

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully,

however it cause mapping problem while I use RANSAC library with NDT_mapping.

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI> 
(cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic

ransac computeModel() issue

I have a issue about ransac.computeModel() function.

I am coding NDT_mapping with ground_detection using RANSAC.

My NDT_mapping works successfully,

however it cause mapping problem while I use RANSAC library with NDT_mapping.

I find that the problem is caused by ransac.computeModel() function.

pcl::SampleConsensusModelPlane<pcl::PointXYZI>::Ptr model_p(new pcl::SampleConsensusModelPlane<pcl::PointXYZI>  (cloud_ptr));
pcl::RandomSampleConsensus<pcl::PointXYZI> ransac(model_p);
ransac.setDistanceThreshold(0.01);
//ransac.computeModel();      //issue
ransac.getInliers(inliers);
pcl::PointCloud<pcl::PointXYZI>::Ptr final(new pcl::PointCloud<pcl::PointXYZI>);
//final->resize(inliers.size());
pcl::copyPointCloud(*cloud_ptr, inliers, *final);

I using ubuntu 18.04/melodic