CODEWITHSUNDEEP
3dgeometrypoint-cloud-librarypoint-cloudsransac
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Reputation: 113

How do I determine the setDistanceThreshold() in PCL?

I am trying to use RANSAC to fit multiple spheres and planes and segment them out of a point cloud so only the spheres are left.

I always just tried random numbers which worked for the spheres but does not work for planes at all. I cant visualize what "how far a point must be from the model to count as an inlier" means. Does that mean the model RANSAC creates with my given thresholds fits for points that fit the created model inside that distance threshold? How would that allow

I also read somewhere that the smaller the threshold the more precise the coefficients, yet when I go even just a bit higher with my threshold (lets say 0.001 to 0.02) RANSAC wont find any spheres anymore. Can someone here help me understand that parameter a bit better?

Upvotes: 2

Views: 1102

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