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<title>RANSAC and other model fitting algorithms</title>
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<div class="title">RANSAC and other model fitting algorithms</div> </div>
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Collaboration diagram for RANSAC and other model fitting algorithms:</div>
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<center><table><tr><td><img src="group__ransac__grp.png" border="0" alt="" usemap="#group____ransac____grp"/>
<map name="group____ransac____grp" id="group____ransac____grp">
<area shape="rect" id="node2" href="group__mrpt__base__grp.html" title=" Back to list of all libraries | See all modules   " alt="" coords="5,5,93,32"/></map>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_model_search.html">mrpt::math::ModelSearch</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Model search implementations: RANSAC and genetic algorithm. <a href="classmrpt_1_1math_1_1_model_search.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html">mrpt::math::RANSAC_Template</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A generic RANSAC implementation with models as matrices. <a href="classmrpt_1_1math_1_1_r_a_n_s_a_c___template.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef RANSAC_Template< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__ransac__grp.html#ga6ef19b76f2cbad65eba7f701a610bff5">mrpt::math::RANSAC</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default instance of RANSAC, for double type. <a href="#ga6ef19b76f2cbad65eba7f701a610bff5"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RANSAC detectors</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename NUMTYPE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void BASE_IMPEXP </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__ransac__grp.html#gad7752b90d12df1104ea99deb81a87cb6">mrpt::math::ransac_detect_3D_planes</a> (const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > &x, const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > &y, const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > &z, <a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TPlane > > &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane=10)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers. <a href="#gad7752b90d12df1104ea99deb81a87cb6"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename NUMTYPE > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void BASE_IMPEXP </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__ransac__grp.html#ga5eda1cbb54c7a1dc20cc3f905414bc05">mrpt::math::ransac_detect_2D_lines</a> (const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > &x, const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > &y, <a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TLine2D > > &out_detected_lines, const double threshold, const size_t min_inliers_for_valid_line=5)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers. <a href="#ga5eda1cbb54c7a1dc20cc3f905414bc05"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class POINTSMAP > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__ransac__grp.html#ga34d81b34450c1d2712623f14e945cb79">mrpt::math::ransac_detect_3D_planes</a> (const POINTSMAP *points_map, <a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TPlane > > &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A stub for <a class="el" href="group__ransac__grp.html#gad7752b90d12df1104ea99deb81a87cb6" title="Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing p...">ransac_detect_3D_planes()</a> with the points given as a <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">mrpt::slam::CPointsMap</a>. <a href="#ga34d81b34450c1d2712623f14e945cb79"></a><br/></td></tr>
</table>
<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga6ef19b76f2cbad65eba7f701a610bff5"></a><!-- doxytag: member="mrpt::math::RANSAC" ref="ga6ef19b76f2cbad65eba7f701a610bff5" args="" -->
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<td class="memname">typedef RANSAC_Template<double> <a class="el" href="group__ransac__grp.html#ga6ef19b76f2cbad65eba7f701a610bff5">mrpt::math::RANSAC</a></td>
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<p>The default instance of RANSAC, for double type. </p>
<p>Definition at line <a class="el" href="ransac_8h_source.html#l00096">96</a> of file <a class="el" href="ransac_8h_source.html">ransac.h</a>.</p>
</div>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga5eda1cbb54c7a1dc20cc3f905414bc05"></a><!-- doxytag: member="mrpt::math::ransac_detect_2D_lines" ref="ga5eda1cbb54c7a1dc20cc3f905414bc05" args="(const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, std::vector< std::pair< size_t, TLine2D > > &out_detected_lines, const double threshold, const size_t min_inliers_for_valid_line=5)" -->
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template<typename NUMTYPE > </div>
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<td class="memname">void BASE_IMPEXP mrpt::math::ransac_detect_2D_lines </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > & </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > & </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TLine2D > > & </td>
<td class="paramname"><em>out_detected_lines</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>min_inliers_for_valid_line</em> = <code>5</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_detected_lines</td><td>The output list of pairs: number of supporting inliers, detected line. </td></tr>
<tr><td class="paramname">threshold</td><td>The maximum distance between a point and a temptative line such as the point is considered an inlier. </td></tr>
<tr><td class="paramname">min_inliers_for_valid_line</td><td>The minimum number of supporting inliers to consider a line as valid. </td></tr>
</table>
</dd>
</dl>
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<a class="anchor" id="gad7752b90d12df1104ea99deb81a87cb6"></a><!-- doxytag: member="mrpt::math::ransac_detect_3D_planes" ref="gad7752b90d12df1104ea99deb81a87cb6" args="(const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &z, std::vector< std::pair< size_t, TPlane > > &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane=10)" -->
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template<typename NUMTYPE > </div>
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<td class="memname">void BASE_IMPEXP mrpt::math::ransac_detect_3D_planes </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > & </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > & </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>< NUMTYPE, <a class="el" href="namespace_eigen.html#ad81fa7195215a0ce30017dfac309f0b2">Eigen::Dynamic</a>, 1 > & </td>
<td class="paramname"><em>z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TPlane > > & </td>
<td class="paramname"><em>out_detected_planes</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>min_inliers_for_valid_plane</em> = <code>10</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_detected_planes</td><td>The output list of pairs: number of supporting inliers, detected plane. </td></tr>
<tr><td class="paramname">threshold</td><td>The maximum distance between a point and a temptative plane such as the point is considered an inlier. </td></tr>
<tr><td class="paramname">min_inliers_for_valid_plane</td><td>The minimum number of supporting inliers to consider a plane as valid. </td></tr>
</table>
</dd>
</dl>
<p>Referenced by <a class="el" href="ransac__applications_8h_source.html#l00080">mrpt::math::ransac_detect_3D_planes()</a>.</p>
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<a class="anchor" id="ga34d81b34450c1d2712623f14e945cb79"></a><!-- doxytag: member="mrpt::math::ransac_detect_3D_planes" ref="ga34d81b34450c1d2712623f14e945cb79" args="(const POINTSMAP *points_map, std::vector< std::pair< size_t, TPlane > > &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane)" -->
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template<class POINTSMAP > </div>
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<td class="memname">void mrpt::math::ransac_detect_3D_planes </td>
<td>(</td>
<td class="paramtype">const POINTSMAP * </td>
<td class="paramname"><em>points_map</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< std::pair< size_t, TPlane > > & </td>
<td class="paramname"><em>out_detected_planes</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>min_inliers_for_valid_plane</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline]</code></td>
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<p>A stub for <a class="el" href="group__ransac__grp.html#gad7752b90d12df1104ea99deb81a87cb6" title="Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing p...">ransac_detect_3D_planes()</a> with the points given as a <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...">mrpt::slam::CPointsMap</a>. </p>
<p>Definition at line <a class="el" href="ransac__applications_8h_source.html#l00080">80</a> of file <a class="el" href="ransac__applications_8h_source.html">ransac_applications.h</a>.</p>
<p>References <a class="el" href="group__ransac__grp.html#gad7752b90d12df1104ea99deb81a87cb6">mrpt::math::ransac_detect_3D_planes()</a>.</p>
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