Public Member Functions

pcl::LeastMedianSquares< PointT > Class Template Reference
[Module sample_consensus]

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

#include <pcl/sample_consensus/lmeds.h>

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List of all members.

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 Bogdan Rusu

Definition at line 55 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:
model a Sample Consensus model

Definition at line 71 of file lmeds.h.

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

LMedS (Least Median of Squares) main constructor.

Parameters:
model a Sample Consensus model
threshold distance to model threshold

Definition at line 81 of file lmeds.h.


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:
debug_verbosity_level enable/disable on-screen debug information and set the verbosity level

Implements pcl::SampleConsensus< PointT >.

Definition at line 45 of file lmeds.hpp.


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