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

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 <pcl/sample_consensus/rmsac.h>

Inheritance diagram for pcl::RandomizedMEstimatorSampleConsensus< PointT >:

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Collaboration diagram for pcl::RandomizedMEstimatorSampleConsensus< PointT >:

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List of all members.

Public Types
typedef boost::shared_ptr < RandomizedMEstimatorSampleConsensus >	Ptr
typedef boost::shared_ptr < const RandomizedMEstimatorSampleConsensus >	ConstPtr
Public Member Functions
	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.
bool	computeModel (int debug_verbosity_level=0)
	Compute the actual model and find the inliers.
void	setFractionNrPretest (double nr_pretest)
	Set the percentage of points to pre-test.
double	getFractionNrPretest ()
	Get the percentage of points to pre-test.

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Detailed Description

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

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).

Note:

RMSAC is useful in situations where most of the data samples belong to the model, and a fast outlier rejection algorithm is needed.

Author:

Radu B. Rusu

Definition at line 58 of file rmsac.h.

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Member Typedef Documentation

template<typename PointT >

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 64 of file rmsac.h.

template<typename PointT >

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

Reimplemented from pcl::SampleConsensus< PointT >.

Definition at line 63 of file rmsac.h.

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Constructor & Destructor Documentation

template<typename PointT >

pcl::RandomizedMEstimatorSampleConsensus< PointT >::RandomizedMEstimatorSampleConsensus

(

const SampleConsensusModelPtr &

model

)

[inline]

RMSAC (Randomized M-estimator SAmple Consensus) main constructor.

Parameters:

[in]

model

a Sample Consensus model

Definition at line 78 of file rmsac.h.

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

template<typename PointT >

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

RMSAC (Randomized M-estimator SAmple Consensus) main constructor.

Parameters:

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

Definition at line 90 of file rmsac.h.

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

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Member Function Documentation

template<typename PointT >

bool pcl::RandomizedMEstimatorSampleConsensus< 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 rmsac.hpp.

References pcl::SampleConsensus< PointT >::getRandomSamples(), 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_.

template<typename PointT >

double pcl::RandomizedMEstimatorSampleConsensus< PointT >::getFractionNrPretest

(

)

[inline]

Get the percentage of points to pre-test.

Definition at line 112 of file rmsac.h.

template<typename PointT >

void pcl::RandomizedMEstimatorSampleConsensus< PointT >::setFractionNrPretest

(

double

nr_pretest

)

[inline]

Set the percentage of points to pre-test.

Parameters:

[in]

nr_pretest

percentage of points to pre-test

Definition at line 108 of file rmsac.h.

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