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

LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. More...

#include <pcl/sample_consensus/lmeds.h>

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

List of all members.

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.

Detailed Description

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

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.

Author:
Radu B. Rusu

Definition at line 57 of file lmeds.h.


Member Typedef Documentation

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file lmeds.h.

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 of file lmeds.h.


Constructor & Destructor Documentation

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

LMedS (Least Median of Squares) main constructor.

Parameters:
[in]modela Sample Consensus model

Definition at line 76 of file lmeds.h.

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

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

LMedS (Least Median of Squares) main constructor.

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

Definition at line 87 of file lmeds.h.

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


Member Function Documentation

template<typename PointT >
bool pcl::LeastMedianSquares< 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 lmeds.hpp.


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