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

RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator SAmple Consensus) algorithm, which basically adds a Td,d test (see RandomizedRandomSampleConsensus) to an MSAC estimator (see MEstimatorSampleConsensus). More...

#include <pcl/sample_consensus/rmsac.h>

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

List of all members.

Public Types

typedef boost::shared_ptr
< RandomizedMEstimatorSampleConsensus
Ptr
typedef boost::shared_ptr
< const
RandomizedMEstimatorSampleConsensus
ConstPtr

Public Member Functions

 RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
 RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
 RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
 RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
bool computeModel (int debug_verbosity_level=0)
 Compute the actual model and find the inliers.
void setFractionNrPretest (double nr_pretest)
 Set the percentage of points to pre-test.
double getFractionNrPretest ()
 Get the percentage of points to pre-test.

Detailed Description

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

RandomizedMEstimatorSampleConsensus represents an implementation of the RMSAC (Randomized M-estimator SAmple Consensus) algorithm, which basically adds a Td,d test (see RandomizedRandomSampleConsensus) to an MSAC estimator (see MEstimatorSampleConsensus).

Note:
RMSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.
Author:
Radu B. Rusu

Definition at line 58 of file rmsac.h.


Member Typedef Documentation

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 64 of file rmsac.h.

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file rmsac.h.


Constructor & Destructor Documentation

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

RMSAC (Randomized M-estimator SAmple Consensus) main constructor.

Parameters:
[in]modela Sample Consensus model

Definition at line 78 of file rmsac.h.

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

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

RMSAC (Randomized M-estimator SAmple Consensus) main constructor.

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

Definition at line 90 of file rmsac.h.

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


Member Function Documentation

template<typename PointT >
bool pcl::RandomizedMEstimatorSampleConsensus< 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 rmsac.hpp.

template<typename PointT >
double pcl::RandomizedMEstimatorSampleConsensus< PointT >::getFractionNrPretest ( ) [inline]

Get the percentage of points to pre-test.

Definition at line 112 of file rmsac.h.

template<typename PointT >
void pcl::RandomizedMEstimatorSampleConsensus< PointT >::setFractionNrPretest ( double  nr_pretest) [inline]

Set the percentage of points to pre-test.

Parameters:
[in]nr_pretestpercentage of points to pre-test

Definition at line 108 of file rmsac.h.


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