mrpt::math::RANSAC_Template< NUMTYPE > Class Template Reference
#include <mrpt/math/ransac.h>
List of all members.
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.
|
Detailed Description
template<typename NUMTYPE = double>
class mrpt::math::RANSAC_Template< NUMTYPE >
Definition at line 43 of file ransac.h.
Member Typedef Documentation
template<typename NUMTYPE = double>
The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
Definition at line 62 of file ransac.h.
template<typename NUMTYPE = double>
The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
Definition at line 54 of file ransac.h.
template<typename NUMTYPE = double>
The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.
Definition at line 48 of file ransac.h.
Member Function Documentation
template<typename NUMTYPE = double>
| static bool mrpt::math::RANSAC_Template< NUMTYPE >::execute |
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const CMatrixTemplateNumeric< NUMTYPE > & |
data, |
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TRansacFitFunctor |
fit_func, |
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TRansacDistanceFunctor |
dist_func, |
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TRansacDegenerateFunctor |
degen_func, |
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const double |
distanceThreshold, |
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const unsigned int |
minimumSizeSamplesToFit, |
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mrpt::vector_size_t & |
out_best_inliers, |
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CMatrixTemplateNumeric< NUMTYPE > & |
out_best_model, |
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bool |
verbose = false, |
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const double |
prob_good_sample = 0.999, |
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const size_t |
maxIter = 2000 | |
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) |
| | [static] |
An implementation of the RANSAC algorithm for robust fitting of models to data.
- Parameters:
-
| data | A DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points. |
| | This implementation is highly inspired on Peter Kovesi's MATLAB scripts (http://www.csse.uwa.edu.au/~pk). |
- Returns:
- false if no good solution can be found, true on success.
