gusucode.com > vision工具箱matlab源码程序 > vision/+vision/+internal/+ransac/initializeRansacModel.m
%========================================================================== % Initialize RANSAC status code and extract valid points from point cloud %========================================================================== function [statusCode, status, pc, validPtCloudIndices] = ... initializeRansacModel(ptCloud, sampleIndices, sampleSize) % List of status code statusCode = struct(... 'NoError', int32(0),... 'NotEnoughPts', int32(1),... 'NotEnoughInliers', int32(2)); % Extract valid points from point cloud if ~isempty(sampleIndices) pc = select(ptCloud, sampleIndices); [pc, indices] = removeInvalidPoints(pc); validPtCloudIndices = sampleIndices(indices); else [pc, validPtCloudIndices] = removeInvalidPoints(ptCloud); end if pc.Count < sampleSize status = statusCode.NotEnoughPts; else status = statusCode.NoError; end