pcl::LeastMedianSquares< PointT > Class Template Reference

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. More...

#include <lmeds.h>

Inheritance diagram for pcl::LeastMedianSquares< PointT >:
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List of all members.

Public Member Functions

bool computeModel (int debug_verbosity_level=0)
 Compute the actual model and find the inliers.
 LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold)
 LMedS (Least Median of Squares) main constructor.
 LeastMedianSquares (const SampleConsensusModelPtr &model)
 LMedS (Least Median of Squares) main constructor.

Private Types

typedef SampleConsensusModel
< PointT >::Ptr 
SampleConsensusModelPtr

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 54 of file lmeds.h.


Member Typedef Documentation

template<typename PointT>
typedef SampleConsensusModel<PointT>::Ptr pcl::LeastMedianSquares< PointT >::SampleConsensusModelPtr [private]

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 64 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 70 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 80 of file lmeds.h.


Member Function Documentation

template<typename PointT >
bool pcl::LeastMedianSquares< PointT >::computeModel ( int  debug_verbosity_level = 0  )  [inline, 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.


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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:57:19 2013