template<typename NUMTYPE = double>
class mrpt::math::RANSAC_Template< NUMTYPE >
A generic RANSAC implementation with models as matrices.
See RANSAC_Template::execute for more info on usage.
- See also:
- mrpt::math::ModelSearch, a more versatile RANSAC implementation where models can be anything else, not only matrices.
Definition at line 44 of file ransac.h.
Public Types |
typedef void(* | TRansacFitFunctor )(const CMatrixTemplateNumeric< NUMTYPE > &allData, const mrpt::vector_size_t &useIndices, std::vector< CMatrixTemplateNumeric< NUMTYPE > > &fitModels) |
| The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
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typedef void(* | TRansacDistanceFunctor )(const CMatrixTemplateNumeric< NUMTYPE > &allData, const std::vector< CMatrixTemplateNumeric< NUMTYPE > > &testModels, const NUMTYPE distanceThreshold, unsigned int &out_bestModelIndex, mrpt::vector_size_t &out_inlierIndices) |
| The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
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typedef bool(* | TRansacDegenerateFunctor )(const CMatrixTemplateNumeric< NUMTYPE > &allData, const mrpt::vector_size_t &useIndices) |
| The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
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Static Public Member Functions |
static bool | execute (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) |
| An implementation of the RANSAC algorithm for robust fitting of models to data.
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