Point Cloud Library (PCL)
1.7.0
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LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. More...
#include <pcl/sample_consensus/lmeds.h>
Public Types | |
typedef boost::shared_ptr < LeastMedianSquares > | Ptr |
typedef boost::shared_ptr < const LeastMedianSquares > | ConstPtr |
Public Member Functions | |
LeastMedianSquares (const SampleConsensusModelPtr &model) | |
LMedS (Least Median of Squares) main constructor. | |
LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold) | |
LMedS (Least Median of Squares) main constructor. | |
bool | computeModel (int debug_verbosity_level=0) |
Compute the actual model and find the inliers. |
LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm.
LMedS is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be set. See Andrea Fusiello's "Elements of Geometric Computer Vision" (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details.
typedef boost::shared_ptr<const LeastMedianSquares> pcl::LeastMedianSquares< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef boost::shared_ptr<LeastMedianSquares> pcl::LeastMedianSquares< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
pcl::LeastMedianSquares< PointT >::LeastMedianSquares | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
LMedS (Least Median of Squares) main constructor.
[in] | model | a Sample Consensus model |
Definition at line 76 of file lmeds.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
pcl::LeastMedianSquares< PointT >::LeastMedianSquares | ( | const SampleConsensusModelPtr & | model, |
double | threshold | ||
) | [inline] |
LMedS (Least Median of Squares) main constructor.
[in] | model | a Sample Consensus model |
[in] | threshold | distance to model threshold |
Definition at line 87 of file lmeds.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
bool pcl::LeastMedianSquares< 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 >.