Public Member Functions

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

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>

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List of all members.

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 Bogdan Rusu

Definition at line 56 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:
model a Sample Consensus model

Definition at line 73 of file rmsac.h.

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

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

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

Definition at line 84 of file rmsac.h.


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

Implements pcl::SampleConsensus< PointT >.

Definition at line 45 of file rmsac.hpp.

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

Get the percentage of points to pre-test.

Definition at line 102 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:
nr_pretest percentage of points to pre-test

Definition at line 99 of file rmsac.h.


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