pcl::LeastMedianSquares< PointT > Class Template Reference
[Module sample_consensus]

LeastMedianSquares represents an implementation of the LMedS (Least Median of Squares) algorithm. More...

#include <pcl/sample_consensus/lmeds.h>

Inheritance diagram for pcl::LeastMedianSquares< PointT >:

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Collaboration diagram for pcl::LeastMedianSquares< PointT >:

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List of all members.

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

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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 B. Rusu

Definition at line 57 of file lmeds.h.

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Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr<const LeastMedianSquares> pcl::LeastMedianSquares< PointT >::ConstPtr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file lmeds.h.

template<typename PointT >

typedef boost::shared_ptr<LeastMedianSquares> pcl::LeastMedianSquares< PointT >::Ptr

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 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:

[in]

model

a Sample Consensus model

Definition at line 76 of file lmeds.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

template<typename PointT >

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

LMedS (Least Median of Squares) main constructor.

Parameters:

[in]	model	a Sample Consensus model
[in]	threshold	distance to model threshold

Definition at line 87 of file lmeds.h.

References pcl::SampleConsensus< PointT >::max_iterations_.

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Member Function Documentation

template<typename PointT >

bool pcl::LeastMedianSquares< PointT >::computeModel

(

int

debug_verbosity_level = 0

)

[inline, 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 >.

Definition at line 48 of file lmeds.hpp.

References pcl::SampleConsensus< PointT >::inliers_, pcl::SampleConsensus< PointT >::iterations_, pcl::SampleConsensus< PointT >::max_iterations_, pcl::SampleConsensus< PointT >::model_, pcl::SampleConsensus< PointT >::model_coefficients_, pcl::SampleConsensus< PointT >::sac_model_, and pcl::SampleConsensus< PointT >::threshold_.

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/lmeds.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/impl/lmeds.hpp