mrdja.ransac.coreransaccuda.get_ransac_iteration_results_cuda

mrdja.ransac.coreransaccuda.get_ransac_iteration_results_cuda(points: ndarray, points_x: ndarray, points_y: ndarray, points_z: ndarray, d_points_x: DeviceNDArray, d_points_y: DeviceNDArray, d_points_z: DeviceNDArray, num_points: int, threshold: float) → dict[source]

Computes the number of inliers and the plane parameters for one iteration of the RANSAC algorithm using CUDA.

Parameters:

  • points (np.ndarray) – Array of points.

  • points_x (np.ndarray) – X coordinates of the points.

  • points_y (np.ndarray) – Y coordinates of the points.

  • points_z (np.ndarray) – Z coordinates of the points.

  • d_points_x (cuda.devicearray.DeviceNDArray) – Device array of X coordinates of the points.

  • d_points_y (cuda.devicearray.DeviceNDArray) – Device array of Y coordinates of the points.

  • d_points_z (cuda.devicearray.DeviceNDArray) – Device array of Z coordinates of the points.

  • num_points (int) – Number of random points to select for each iteration.

  • threshold (float) – Maximum distance to the plane.

Returns:

Dictionary with the plane parameters, the number of inliers, and the indices of the inliers.

Return type:

dict