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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html">RANSAC_Template</a> </li>
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<a href="#pub-types">Public Types</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> </div>
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<div class="title">mrpt::math::RANSAC_Template Class Reference<div class="ingroups"><a class="el" href="group__ransac__grp.html">RANSAC and other model fitting algorithms</a></div></div> </div>
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<!-- doxytag: class="mrpt::math::RANSAC_Template" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A generic RANSAC implementation with models as matrices. </p>
<p>See <em><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a62896cd960346c4b965dac5d0128a963" title="An implementation of the RANSAC algorithm for robust fitting of models to data.">RANSAC_Template::execute</a></em> for more info on usage. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1math_1_1_model_search.html" title="Model search implementations: RANSAC and genetic algorithm.">mrpt::math::ModelSearch</a>, a more versatile <a class="el" href="group__ransac__grp.html#ga6ef19b76f2cbad65eba7f701a610bff5" title="The default instance of RANSAC, for double type.">RANSAC</a> implementation where models can be anything else, not only matrices. </dd></dl>
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<p><code>#include <<a class="el" href="ransac_8h_source.html">mrpt/math/ransac.h</a>></code></p>
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Inheritance diagram for mrpt::math::RANSAC_Template:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1math_1_1_r_a_n_s_a_c___template__inherit__graph.png" border="0" usemap="#mrpt_1_1math_1_1_r_a_n_s_a_c___template_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1math_1_1_r_a_n_s_a_c___template_inherit__map" id="mrpt_1_1math_1_1_r_a_n_s_a_c___template_inherit__map">
<area shape="rect" id="node2" 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..." alt="" coords="5,5,227,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#af85b02741f477f76477550433af13ce8">TRansacFitFunctor</a> )(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > > &fitModels)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. <a href="#af85b02741f477f76477550433af13ce8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#add16cb497853692c72ea7dc0422df803">TRansacDistanceFunctor</a> )(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > > &testModels, const NUMTYPE distanceThreshold, unsigned int &out_bestModelIndex, <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &out_inlierIndices)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. <a href="#add16cb497853692c72ea7dc0422df803"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef bool(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a564dd5863ec457b2c53f7ea216a766cf">TRansacDegenerateFunctor</a> )(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. <a href="#a564dd5863ec457b2c53f7ea216a766cf"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a62896cd960346c4b965dac5d0128a963">execute</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &data, <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#af85b02741f477f76477550433af13ce8">TRansacFitFunctor</a> fit_func, <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#add16cb497853692c72ea7dc0422df803">TRansacDistanceFunctor</a> dist_func, <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a564dd5863ec457b2c53f7ea216a766cf">TRansacDegenerateFunctor</a> degen_func, const double distanceThreshold, const unsigned int minimumSizeSamplesToFit, <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &out_best_inliers, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &out_best_model, bool verbose=false, const double prob_good_sample=0.999, const size_t maxIter=2000)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of the RANSAC algorithm for robust fitting of models to data. <a href="#a62896cd960346c4b965dac5d0128a963"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a564dd5863ec457b2c53f7ea216a766cf"></a><!-- doxytag: member="mrpt::math::RANSAC_Template::TRansacDegenerateFunctor" ref="a564dd5863ec457b2c53f7ea216a766cf" args=")(const CMatrixTemplateNumeric< NUMTYPE > &allData, const mrpt::vector_size_t &useIndices)" -->
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<td class="memname">typedef bool(* <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a564dd5863ec457b2c53f7ea216a766cf">mrpt::math::RANSAC_Template::TRansacDegenerateFunctor</a>)(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices)</td>
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<p>The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. </p>
<p>Definition at line <a class="el" href="ransac_8h_source.html#l00068">68</a> of file <a class="el" href="ransac_8h_source.html">ransac.h</a>.</p>
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<a class="anchor" id="add16cb497853692c72ea7dc0422df803"></a><!-- doxytag: member="mrpt::math::RANSAC_Template::TRansacDistanceFunctor" ref="add16cb497853692c72ea7dc0422df803" args=")(const CMatrixTemplateNumeric< NUMTYPE > &allData, const std::vector< CMatrixTemplateNumeric< NUMTYPE > > &testModels, const NUMTYPE distanceThreshold, unsigned int &out_bestModelIndex, mrpt::vector_size_t &out_inlierIndices)" -->
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<td class="memname">typedef void(* <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#add16cb497853692c72ea7dc0422df803">mrpt::math::RANSAC_Template::TRansacDistanceFunctor</a>)(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > > &testModels, const NUMTYPE distanceThreshold, unsigned int &out_bestModelIndex, <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &out_inlierIndices)</td>
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<p>The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. </p>
<p>Definition at line <a class="el" href="ransac_8h_source.html#l00060">60</a> of file <a class="el" href="ransac_8h_source.html">ransac.h</a>.</p>
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<a class="anchor" id="af85b02741f477f76477550433af13ce8"></a><!-- doxytag: member="mrpt::math::RANSAC_Template::TRansacFitFunctor" ref="af85b02741f477f76477550433af13ce8" args=")(const CMatrixTemplateNumeric< NUMTYPE > &allData, const mrpt::vector_size_t &useIndices, std::vector< CMatrixTemplateNumeric< NUMTYPE > > &fitModels)" -->
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<td class="memname">typedef void(* <a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#af85b02741f477f76477550433af13ce8">mrpt::math::RANSAC_Template::TRansacFitFunctor</a>)(const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > &allData, const <a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> &useIndices, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > > &fitModels)</td>
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<p>The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. </p>
<p>Definition at line <a class="el" href="ransac_8h_source.html#l00054">54</a> of file <a class="el" href="ransac_8h_source.html">ransac.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a62896cd960346c4b965dac5d0128a963"></a><!-- doxytag: member="mrpt::math::RANSAC_Template::execute" ref="a62896cd960346c4b965dac5d0128a963" args="(const CMatrixTemplateNumeric< NUMTYPE > &data, TRansacFitFunctor fit_func, TRansacDistanceFunctor dist_func, TRansacDegenerateFunctor degen_func, const double distanceThreshold, const unsigned int minimumSizeSamplesToFit, mrpt::vector_size_t &out_best_inliers, CMatrixTemplateNumeric< NUMTYPE > &out_best_model, bool verbose=false, const double prob_good_sample=0.999, const size_t maxIter=2000)" -->
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<td class="memname">static bool mrpt::math::RANSAC_Template::execute </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > & </td>
<td class="paramname"><em>data</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#af85b02741f477f76477550433af13ce8">TRansacFitFunctor</a> </td>
<td class="paramname"><em>fit_func</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#add16cb497853692c72ea7dc0422df803">TRansacDistanceFunctor</a> </td>
<td class="paramname"><em>dist_func</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#a564dd5863ec457b2c53f7ea216a766cf">TRansacDegenerateFunctor</a> </td>
<td class="paramname"><em>degen_func</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>distanceThreshold</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const unsigned int </td>
<td class="paramname"><em>minimumSizeSamplesToFit</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">mrpt::vector_size_t</a> & </td>
<td class="paramname"><em>out_best_inliers</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixTemplateNumeric</a>< NUMTYPE > & </td>
<td class="paramname"><em>out_best_model</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>verbose</em> = <code>false</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>prob_good_sample</em> = <code>0.999</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>maxIter</em> = <code>2000</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>An implementation of the RANSAC algorithm for robust fitting of models to data. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">data</td><td>A DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points. </td></tr>
<tr><td class="paramname"></td><td>This implementation is highly inspired on Peter Kovesi's MATLAB scripts (<a href="http://www.csse.uwa.edu.au/~pk">http://www.csse.uwa.edu.au/~pk</a>). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false if no good solution can be found, true on success. </dd></dl>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::math::RANSAC_Template::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
