pcl::LeastMedianSquares< PointT > Class Template Reference

LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. LMedS is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be set. See Andrea Fusiello's "Elements of Geometric Computer Vision" (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details. More...

#include <lmeds.h>

Inheritance diagram for pcl::LeastMedianSquares< PointT >:

List of all members.

Public Member Functions
bool	computeModel (int debug_verbosity_level=0)
	Compute the actual model and find the inliers.
	LeastMedianSquares (const SampleConsensusModelPtr &model)
	LMedS (Least Median of Squares) main constructor.
	LeastMedianSquares (const SampleConsensusModelPtr &model, double threshold)
	LMedS (Least Median of Squares) main constructor.
Private Types
typedef SampleConsensusModel < PointT >::Ptr	SampleConsensusModelPtr

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Detailed Description

template<typename PointT>
class pcl::LeastMedianSquares< PointT >

LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. LMedS is a RANSAC-like model-fitting algorithm that can tolerate up to 50% outliers without requiring thresholds to be set. See Andrea Fusiello's "Elements of Geometric Computer Vision" (http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html#x1-520007) for more details.

Author:

Radu Bogdan Rusu

Definition at line 55 of file lmeds.h.

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Member Typedef Documentation

template<typename PointT>

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 65 of file lmeds.h.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::LeastMedianSquares< PointT >::LeastMedianSquares

(

const SampleConsensusModelPtr &

model

)

[inline]

LMedS (Least Median of Squares) main constructor.

Parameters:

model

a Sample Consensus model

Definition at line 71 of file lmeds.h.

template<typename PointT>

pcl::LeastMedianSquares< PointT >::LeastMedianSquares	(	const SampleConsensusModelPtr &	model,
		double	threshold
	)		[inline]

LMedS (Least Median of Squares) main constructor.

Parameters:

model	a Sample Consensus model
threshold	distance to model threshold

Definition at line 81 of file lmeds.h.

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Member Function Documentation

template<typename PointT >

bool pcl::LeastMedianSquares< 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 lmeds.hpp.

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

• lmeds.h
• lmeds.hpp