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 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. |
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).
typedef SampleConsensusModel<PointT>::Ptr pcl::RandomizedMEstimatorSampleConsensus< PointT >::SampleConsensusModelPtr [private] |
Reimplemented from pcl::SampleConsensus< PointT >.
pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model | ) | [inline] |
pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus | ( | const SampleConsensusModelPtr & | model, |
double | threshold | ||
) | [inline] |
bool pcl::RandomizedMEstimatorSampleConsensus< PointT >::computeModel | ( | int | debug_verbosity_level = 0 | ) | [virtual] |
Compute the actual model and find the inliers.
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] |
double pcl::RandomizedMEstimatorSampleConsensus< PointT >::fraction_nr_pretest_ [private] |