Point Cloud Library (PCL)  1.9.1-dev
lmeds.h
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40 
41 #pragma once
42 
43 #include <pcl/sample_consensus/sac.h>
44 #include <pcl/sample_consensus/sac_model.h>
45 
46 namespace pcl
47 {
48  /** \brief @b LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. LMedS
49  * is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be
50  * set. See Andrea Fusiello's "Elements of Geometric Computer Vision"
51  * (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details.
52  * \author Radu B. Rusu
53  * \ingroup sample_consensus
54  */
55  template <typename PointT>
56  class LeastMedianSquares : public SampleConsensus<PointT>
57  {
58  using SampleConsensusModelPtr = typename SampleConsensusModel<PointT>::Ptr;
59 
60  public:
61  using Ptr = boost::shared_ptr<LeastMedianSquares<PointT> >;
62  using ConstPtr = boost::shared_ptr<const LeastMedianSquares<PointT> >;
63 
71 
72  /** \brief LMedS (Least Median of Squares) main constructor
73  * \param[in] model a Sample Consensus model
74  */
75  LeastMedianSquares (const SampleConsensusModelPtr &model)
76  : SampleConsensus<PointT> (model)
77  {
78  // Maximum number of trials before we give up.
79  max_iterations_ = 50;
80  }
81 
82  /** \brief LMedS (Least Median of Squares) main constructor
83  * \param[in] model a Sample Consensus model
84  * \param[in] threshold distance to model threshold
85  */
86  LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold)
87  : SampleConsensus<PointT> (model, threshold)
88  {
89  // Maximum number of trials before we give up.
90  max_iterations_ = 50;
91  }
92 
93  /** \brief Compute the actual model and find the inliers
94  * \param[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
95  */
96  bool
97  computeModel (int debug_verbosity_level = 0) override;
98  };
99 }
100 
101 #ifdef PCL_NO_PRECOMPILE
102 #include <pcl/sample_consensus/impl/lmeds.hpp>
103 #endif
boost::shared_ptr< SampleConsensusModel< PointT > > Ptr
Definition: sac_model.h:75
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm...
Definition: lmeds.h:56
boost::shared_ptr< const LeastMedianSquares< PointT > > ConstPtr
Definition: lmeds.h:62
boost::shared_ptr< LeastMedianSquares< PointT > > Ptr
Definition: lmeds.h:61
LeastMedianSquares(const SampleConsensusModelPtr &model, double threshold)
LMedS (Least Median of Squares) main constructor.
Definition: lmeds.h:86
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: lmeds.hpp:48
A point structure representing Euclidean xyz coordinates, and the RGB color.
LeastMedianSquares(const SampleConsensusModelPtr &model)
LMedS (Least Median of Squares) main constructor.
Definition: lmeds.h:75
int max_iterations_
Maximum number of iterations before giving up.
Definition: sac.h:324
SampleConsensus represents the base class.
Definition: sac.h:57