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 >:

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)
	MSAC (M-estimator SAmple Consensus) main constructor.
	MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
	MSAC (M-estimator SAmple Consensus) main constructor.
Private Types
typedef SampleConsensusModel < PointT >::Ptr	SampleConsensusModelPtr

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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 55 of file msac.h.

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Member Typedef Documentation

template<typename PointT>

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 66 of file msac.h.

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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 72 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 82 of file msac.h.

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Member Function Documentation

template<typename PointT >

bool pcl::MEstimatorSampleConsensus< PointT >::computeModel

(

int

debug_verbosity_level = 0

)

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

• msac.h
• msac.hpp