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<h1>ransac.h</h1> </div>
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<a href="ransac_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef mrpt_ransac_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_ransac_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_matrix_d_8h.html">mrpt/math/CMatrixD.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <set></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>math
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** A generic RANSAC implementation with models as matrices.</span>
<a name="l00040"></a>00040 <span class="comment"> * See \a RANSAC_Template::execute for more info on usage.</span>
<a name="l00041"></a>00041 <span class="comment"> * \sa mrpt::math::ModelSearch, a more versatile RANSAC implementation where models can be anything else, not only matrices.</span>
<a name="l00042"></a>00042 <span class="comment"> */</span>
<a name="l00043"></a>00043 <span class="keyword">template</span> <<span class="keyword">typename</span> NUMTYPE = <span class="keywordtype">double</span>>
<a name="l00044"></a><a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html">00044</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html" title="A generic RANSAC implementation with models as matrices.">RANSAC_Template</a> : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout...">CDebugOutputCapable</a>
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">public</span>:
<a name="l00047"></a>00047 <span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /** The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. */</span>
<a name="l00049"></a><a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a6d325e57c20a7c5743fce9c4996acec8">00049</a> <span class="keyword">typedef</span> void (*TRansacFitFunctor)(
<a name="l00050"></a>00050 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<NUMTYPE></a> &allData,
<a name="l00051"></a>00051 <span class="keyword">const</span> <a class="code" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices,
<a name="l00052"></a>00052 std::vector< CMatrixTemplateNumeric<NUMTYPE> > &fitModels );
<a name="l00053"></a>00053 <span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. */</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#ac06631b978d2779ab6983ba74d8c4ae8">00055</a> <span class="keyword">typedef</span> void (*TRansacDistanceFunctor)(
<a name="l00056"></a>00056 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<NUMTYPE></a> &allData,
<a name="l00057"></a>00057 <span class="keyword">const</span> std::vector< CMatrixTemplateNumeric<NUMTYPE> > & testModels,
<a name="l00058"></a>00058 <span class="keyword">const</span> NUMTYPE distanceThreshold,
<a name="l00059"></a>00059 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> & out_bestModelIndex,
<a name="l00060"></a>00060 <a class="code" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> & out_inlierIndices );
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. */</span>
<a name="l00063"></a><a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a5191c5b94387d93c8bccb0e7d3f59371">00063</a> <span class="keyword">typedef</span> bool (*TRansacDegenerateFunctor)(
<a name="l00064"></a>00064 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<NUMTYPE></a> &allData,
<a name="l00065"></a>00065 <span class="keyword">const</span> <a class="code" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices );
<a name="l00066"></a>00066 <span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** An implementation of the RANSAC algorithm for robust fitting of models to data.</span>
<a name="l00068"></a>00068 <span class="comment"> *</span>
<a name="l00069"></a>00069 <span class="comment"> * \param data A DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points.</span>
<a name="l00070"></a>00070 <span class="comment"> * \param</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * This implementation is highly inspired on Peter Kovesi's MATLAB scripts (http://www.csse.uwa.edu.au/~pk).</span>
<a name="l00073"></a>00073 <span class="comment"> * \return false if no good solution can be found, true on success.</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keyword">static</span> <span class="keywordtype">bool</span> execute(
<a name="l00076"></a>00076 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<NUMTYPE></a> &data,
<a name="l00077"></a>00077 TRansacFitFunctor fit_func,
<a name="l00078"></a>00078 TRansacDistanceFunctor dist_func,
<a name="l00079"></a>00079 TRansacDegenerateFunctor degen_func,
<a name="l00080"></a>00080 <span class="keyword">const</span> <span class="keywordtype">double</span> distanceThreshold,
<a name="l00081"></a>00081 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minimumSizeSamplesToFit,
<a name="l00082"></a>00082 <a class="code" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &out_best_inliers,
<a name="l00083"></a>00083 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric<NUMTYPE></a> &out_best_model,
<a name="l00084"></a>00084 <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span>,
<a name="l00085"></a>00085 <span class="keyword">const</span> <span class="keywordtype">double</span> prob_good_sample = 0.999,
<a name="l00086"></a>00086 <span class="keyword">const</span> <span class="keywordtype">size_t</span> maxIter = 2000
<a name="l00087"></a>00087 );
<a name="l00088"></a>00088
<a name="l00089"></a>00089 }; <span class="comment">// end class</span>
<a name="l00090"></a>00090
<a name="l00091"></a><a class="code" href="namespacemrpt_1_1math.html#a6ef19b76f2cbad65eba7f701a610bff5">00091</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html" title="A generic RANSAC implementation with models as matrices.">RANSAC_Template<double></a> <a class="code" href="namespacemrpt_1_1math.html#a6ef19b76f2cbad65eba7f701a610bff5" title="The default instance of RANSAC, for double type.">RANSAC</a>; <span class="comment">//!< The default instance of RANSAC, for double type</span>
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 } <span class="comment">// End of namespace</span>
<a name="l00094"></a>00094 } <span class="comment">// End of namespace</span>
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="preprocessor">#endif</span>
</pre></div></div>
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