Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions
pcl::MEstimatorSampleConsensus< PointT > Class Template Reference

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>

+ Inheritance diagram for pcl::MEstimatorSampleConsensus< PointT >:

List of all members.

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.

Detailed Description

template<typename PointT>
class pcl::MEstimatorSampleConsensus< PointT >

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.

Author:
Radu B. Rusu

Definition at line 57 of file msac.h.


Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr<const MEstimatorSampleConsensus> pcl::MEstimatorSampleConsensus< PointT >::ConstPtr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file msac.h.

template<typename PointT >
typedef boost::shared_ptr<MEstimatorSampleConsensus> pcl::MEstimatorSampleConsensus< PointT >::Ptr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 of file msac.h.


Constructor & Destructor Documentation

template<typename PointT >
pcl::MEstimatorSampleConsensus< PointT >::MEstimatorSampleConsensus ( const SampleConsensusModelPtr &  model) [inline]

MSAC (M-estimator SAmple Consensus) main constructor.

Parameters:
[in]modela Sample Consensus model

Definition at line 77 of file msac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

template<typename PointT >
pcl::MEstimatorSampleConsensus< PointT >::MEstimatorSampleConsensus ( const SampleConsensusModelPtr &  model,
double  threshold 
) [inline]

MSAC (M-estimator SAmple Consensus) main constructor.

Parameters:
[in]modela Sample Consensus model
[in]thresholddistance to model threshold

Definition at line 88 of file msac.h.

References pcl::SampleConsensus< PointT >::max_iterations_.


Member Function Documentation

template<typename PointT >
bool pcl::MEstimatorSampleConsensus< PointT >::computeModel ( int  debug_verbosity_level = 0) [virtual]

Compute the actual model and find the inliers.

Parameters:
[in]debug_verbosity_levelenable/disable on-screen debug information and set the verbosity level

Implements pcl::SampleConsensus< PointT >.

Definition at line 48 of file msac.hpp.


The documentation for this class was generated from the following files: