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Speed-up SampleConsensusModel::computeVariance #1285

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Jul 28, 2015
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Speed-up SampleConsensusModel::computeVariance #1285

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Speed-up computeVariance
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@Vladimir-Engelgardt
Vladimir-Engelgardt committed Jul 27, 2015
commit 2911c52b0cfcbc0447ae6e7034ea465f5729fcdf
5 changes: 3 additions & 2 deletions sample_consensus/include/pcl/sample_consensus/sac_model.h
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Original file line number Diff line number Diff line change
Expand Up @@ -421,8 +421,9 @@ namespace pcl
computeVariance (const std::vector<double> &error_sqr_dists)
{
std::vector<double> dists (error_sqr_dists);
std::sort (dists.begin (), dists.end ());
double median_error_sqr = dists[dists.size () >> 1];
const size_t medIdx = dists.size () >> 1;
std::nth_element (dists.begin (), dists.begin () + medIdx, dists.end ());
double median_error_sqr = dists[medIdx];
return (2.1981 * median_error_sqr);
}

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