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>
Public Types | |
| typedef boost::shared_ptr < const RandomizedMEstimatorSampleConsensus > | ConstPtr |
| typedef boost::shared_ptr < RandomizedMEstimatorSampleConsensus > | Ptr |
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) | |
| RMSAC (Randomized M-estimator SAmple Consensus) main constructor. | |
| RandomizedMEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold) | |
| 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. | |
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.
Member Typedef Documentation
| typedef boost::shared_ptr<const RandomizedMEstimatorSampleConsensus> pcl::RandomizedMEstimatorSampleConsensus< PointT >::ConstPtr |
Reimplemented from pcl::SampleConsensus< PointT >.
| typedef boost::shared_ptr<RandomizedMEstimatorSampleConsensus> pcl::RandomizedMEstimatorSampleConsensus< PointT >::Ptr |
Reimplemented from pcl::SampleConsensus< PointT >.
typedef SampleConsensusModel<PointT>::Ptr pcl::RandomizedMEstimatorSampleConsensus< PointT >::SampleConsensusModelPtr [private] |
Reimplemented from pcl::SampleConsensus< PointT >.
Constructor & Destructor Documentation
| pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
| pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
| double | threshold | ||
| ) | [inline] |
Member Function Documentation
| bool pcl::RandomizedMEstimatorSampleConsensus< PointT >::computeModel | ( | int | debug_verbosity_level = 0 | ) | [virtual] |
Compute the actual model and find the inliers.
- Parameters:
-
[in] debug_verbosity_level enable/disable on-screen debug information and set the verbosity level
Implements pcl::SampleConsensus< PointT >.
| double pcl::RandomizedMEstimatorSampleConsensus< PointT >::getFractionNrPretest | ( | ) | [inline] |
| void pcl::RandomizedMEstimatorSampleConsensus< PointT >::setFractionNrPretest | ( | double | nr_pretest | ) | [inline] |
Member Data Documentation
double pcl::RandomizedMEstimatorSampleConsensus< PointT >::fraction_nr_pretest_ [private] |
The documentation for this class was generated from the following files: