pcl::MEstimatorSampleConsensus< PointT > Class Template Reference

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. More...

#include <msac.h>

Inheritance diagram for pcl::MEstimatorSampleConsensus< 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.
 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
 MSAC (M-estimator SAmple Consensus) main constructor.
 MEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
 MSAC (M-estimator SAmple Consensus) main constructor.

Private Types

typedef SampleConsensusModel
< PointT >::Ptr 
SampleConsensusModelPtr

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 54 of file msac.h.


Member Typedef Documentation

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 65 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 71 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 81 of file msac.h.


Member Function Documentation

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