TEST (RANSAC, Base) { // Create a shared plane model pointer directly SampleConsensusModelPlanePtr model (new SampleConsensusModelPlane<PointXYZ> (cloud_)); // Create the RANSAC object RandomSampleConsensus<PointXYZ> sac (model, 0.03); // Basic tests ASSERT_EQ (sac.getDistanceThreshold (), 0.03); sac.setDistanceThreshold (0.03); ASSERT_EQ (sac.getDistanceThreshold (), 0.03); sac.setProbability (0.99); ASSERT_EQ (sac.getProbability (), 0.99); sac.setMaxIterations (10000); ASSERT_EQ (sac.getMaxIterations (), 10000); }