Point Cloud Library (PCL)
1.7.0
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MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S. More...
#include <pcl/sample_consensus/msac.h>
Public Types | |
typedef boost::shared_ptr < MEstimatorSampleConsensus > | Ptr |
typedef boost::shared_ptr < const MEstimatorSampleConsensus > | ConstPtr |
Public Member Functions | |
MEstimatorSampleConsensus (const SampleConsensusModelPtr &model) | |
MSAC (M-estimator SAmple Consensus) main constructor. | |
MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) | |
MSAC (M-estimator SAmple Consensus) main constructor. | |
bool | computeModel (int debug_verbosity_level=0) |
Compute the actual model and find the inliers. |
MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S.
Torr and A. Zisserman, Computer Vision and Image Understanding, vol 78, 2000.
typedef boost::shared_ptr<const MEstimatorSampleConsensus> pcl::MEstimatorSampleConsensus< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef boost::shared_ptr<MEstimatorSampleConsensus> pcl::MEstimatorSampleConsensus< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
pcl::MEstimatorSampleConsensus< PointT >::MEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
MSAC (M-estimator SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
Definition at line 77 of file msac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
pcl::MEstimatorSampleConsensus< PointT >::MEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
double | threshold | ||
) | [inline] |
MSAC (M-estimator SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
[in] | threshold | distance to model threshold |
Definition at line 88 of file msac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
bool pcl::MEstimatorSampleConsensus< PointT >::computeModel | ( | int | debug_verbosity_level = 0 | ) | [virtual] |
Compute the actual model and find the inliers.
[in] | debug_verbosity_level | enable/disable on-screen debug information and set the verbosity level |
Implements pcl::SampleConsensus< PointT >.