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ransac.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef  mrpt_ransac_H
00029 #define  mrpt_ransac_H
00030 
00031 #include <mrpt/utils/CDebugOutputCapable.h>
00032 #include <mrpt/math/CMatrixD.h>
00033 #include <set>
00034 
00035 namespace mrpt
00036 {
00037         namespace math
00038         {
00039                 /** A generic RANSAC implementation with models as matrices.
00040                   *  See \a RANSAC_Template::execute for more info on usage.
00041                   *  \sa mrpt::math::ModelSearch, a more versatile RANSAC implementation where models can be anything else, not only matrices.
00042                   */
00043                 template <typename NUMTYPE = double>
00044                 class BASE_IMPEXP RANSAC_Template : public mrpt::utils::CDebugOutputCapable
00045                 {
00046                 public:
00047 
00048                         /** The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. */
00049                         typedef void (*TRansacFitFunctor)(
00050                                 const CMatrixTemplateNumeric<NUMTYPE>  &allData,
00051                                 const mrpt::vector_size_t &useIndices,
00052                                 std::vector< CMatrixTemplateNumeric<NUMTYPE> > &fitModels );
00053 
00054                         /** The type of the function passed to mrpt::math::ransac  - See the documentation for that method for more info. */
00055                         typedef void (*TRansacDistanceFunctor)(
00056                                 const CMatrixTemplateNumeric<NUMTYPE>  &allData,
00057                                 const std::vector< CMatrixTemplateNumeric<NUMTYPE> > & testModels,
00058                                 const   NUMTYPE   distanceThreshold,
00059                                 unsigned int & out_bestModelIndex,
00060                                 mrpt::vector_size_t & out_inlierIndices );
00061 
00062                         /** The type of the function passed to mrpt::math::ransac  - See the documentation for that method for more info. */
00063                         typedef bool (*TRansacDegenerateFunctor)(
00064                                 const CMatrixTemplateNumeric<NUMTYPE>  &allData,
00065                                 const mrpt::vector_size_t &useIndices );
00066 
00067                         /** An implementation of the RANSAC algorithm for robust fitting of models to data.
00068                           *
00069                           *  \param data A DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points.
00070                           *  \param
00071                           *
00072                           *  This implementation is highly inspired on Peter Kovesi's MATLAB scripts (http://www.csse.uwa.edu.au/~pk).
00073                           * \return false if no good solution can be found, true on success.
00074                           */
00075                         static bool execute(
00076                                 const CMatrixTemplateNumeric<NUMTYPE>     &data,
00077                                 TRansacFitFunctor                       fit_func,
00078                                 TRansacDistanceFunctor          dist_func,
00079                                 TRansacDegenerateFunctor        degen_func,
00080                                 const double                            distanceThreshold,
00081                                 const unsigned int                      minimumSizeSamplesToFit,
00082                                 mrpt::vector_size_t                     &out_best_inliers,
00083                                 CMatrixTemplateNumeric<NUMTYPE> &out_best_model,
00084                                 bool                                            verbose = false,
00085                                 const double                prob_good_sample = 0.999,
00086                                 const size_t                            maxIter = 2000
00087                                 );
00088 
00089                 }; // end class
00090 
00091                 typedef RANSAC_Template<double> RANSAC;   //!< The default instance of RANSAC, for double type
00092 
00093         } // End of namespace
00094 } // End of namespace
00095 
00096 #endif



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