Public Member Functions

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

MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S. More...

#include <pcl/sample_consensus/msac.h>

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List of all members.

Public Member Functions

 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
 MSAC (M-estimator SAmple Consensus) main constructor.
 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
 MSAC (M-estimator SAmple Consensus) main constructor.
bool computeModel (int debug_verbosity_level=0)
 Compute the actual model and find the inliers.

Detailed Description

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

MEstimatorSampleConsensus represents an implementation of the MSAC (M-estimator SAmple Consensus) algorithm, as described in: "MLESAC: A new robust estimator with application to estimating image geometry", P.H.S.

Torr and A. Zisserman, Computer Vision and Image Understanding, vol 78, 2000.

Author:
Radu Bogdan Rusu

Definition at line 55 of file msac.h.


Constructor & Destructor Documentation

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

MSAC (M-estimator SAmple Consensus) main constructor.

Parameters:
model a Sample Consensus model

Definition at line 72 of file msac.h.

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

MSAC (M-estimator SAmple Consensus) main constructor.

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

Definition at line 82 of file msac.h.


Member Function Documentation

template<typename PointT >
bool pcl::MEstimatorSampleConsensus< 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 msac.hpp.


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