Point Cloud Library (PCL)
1.7.0
|
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>
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. |
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).
typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus> pcl::RandomizedMEstimatorSampleConsensus< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus> pcl::RandomizedMEstimatorSampleConsensus< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
Definition at line 78 of file rmsac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
double | threshold | ||
) | [inline] |
RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
[in] | model | a Sample Consensus model |
[in] | threshold | distance to model threshold |
Definition at line 90 of file rmsac.h.
References pcl::SampleConsensus< PointT >::max_iterations_.
bool pcl::RandomizedMEstimatorSampleConsensus< 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 >.
double pcl::RandomizedMEstimatorSampleConsensus< PointT >::getFractionNrPretest | ( | ) | [inline] |
void pcl::RandomizedMEstimatorSampleConsensus< PointT >::setFractionNrPretest | ( | double | nr_pretest | ) | [inline] |