pcl::RandomizedMEstimatorSampleConsensus< PointT > Class Template Reference

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 <rmsac.h>

Inheritance diagram for pcl::RandomizedMEstimatorSampleConsensus< PointT >:

[legend]

List of all members.

Public Member Functions
bool	computeModel (int debug_verbosity_level=0)
	Compute the actual model and find the inliers.
double	getFractionNrPretest ()
	Get the percentage of points to pre-test.
	RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
	RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
	RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
	RMSAC (Randomized M-estimator SAmple Consensus) main constructor.
void	setFractionNrPretest (double nr_pretest)
	Set the percentage of points to pre-test.
Private Types
typedef SampleConsensusModel < PointT >::Ptr	SampleConsensusModelPtr
Private Attributes
double	fraction_nr_pretest_
	Number of samples to randomly pre-test, in percents.

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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 55 of file rmsac.h.

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Member Typedef Documentation

template<typename PointT>

typedef SampleConsensusModel<PointT>::Ptr pcl::RandomizedMEstimatorSampleConsensus< PointT >::SampleConsensusModelPtr [private]

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 66 of file rmsac.h.

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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 72 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 83 of file rmsac.h.

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Member Function Documentation

template<typename PointT >

bool pcl::RandomizedMEstimatorSampleConsensus< 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 rmsac.hpp.

template<typename PointT>

double pcl::RandomizedMEstimatorSampleConsensus< PointT >::getFractionNrPretest

(

)

[inline]

Get the percentage of points to pre-test.

Definition at line 101 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 98 of file rmsac.h.

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Member Data Documentation

template<typename PointT>

double pcl::RandomizedMEstimatorSampleConsensus< PointT >::fraction_nr_pretest_ [private]

Number of samples to randomly pre-test, in percents.

Definition at line 105 of file rmsac.h.

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

• rmsac.h
• rmsac.hpp