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

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. More...

#include <pcl/sample_consensus/msac.h>

Inheritance diagram for pcl::MEstimatorSampleConsensus< PointT >:

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Collaboration diagram for pcl::MEstimatorSampleConsensus< PointT >:

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List of all members.

Public Types
typedef boost::shared_ptr < MEstimatorSampleConsensus >	Ptr
typedef boost::shared_ptr < const MEstimatorSampleConsensus >	ConstPtr
Public Member Functions
	MEstimatorSampleConsensus (const SampleConsensusModelPtr &model)
	MSAC (M-estimator SAmple Consensus) main constructor.
	MEstimatorSampleConsensus (const SampleConsensusModelPtr &model, double threshold)
	MSAC (M-estimator SAmple Consensus) 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::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 B. Rusu

Definition at line 57 of file msac.h.

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Member Typedef Documentation

template<typename PointT >

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file msac.h.

template<typename PointT >

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 62 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:

[in]

model

a Sample Consensus model

Definition at line 77 of file msac.h.

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

template<typename PointT >

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

MSAC (M-estimator SAmple Consensus) main constructor.

Parameters:

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

Definition at line 88 of file msac.h.

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

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Member Function Documentation

template<typename PointT >

bool pcl::MEstimatorSampleConsensus< 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 msac.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 >::probability_, 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/msac.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/sample_consensus/include/pcl/sample_consensus/impl/msac.hpp