ransac.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef  mrpt_ransac_H
#define  mrpt_ransac_H

#include <mrpt/utils/COutputLogger.h>
#include <mrpt/math/CMatrixD.h>
#include <set>

namespace mrpt
{
        namespace math
        {
                /** @addtogroup ransac_grp RANSAC and other model fitting algorithms
                  * \ingroup mrpt_base_grp
                  * @{ */


                /** A generic RANSAC implementation with models as matrices.
                  *  See \a RANSAC_Template::execute for more info on usage.
                  *  \sa mrpt::math::ModelSearch, a more versatile RANSAC implementation where models can be anything else, not only matrices.
                  */
                template <typename NUMTYPE = double>
                class BASE_IMPEXP RANSAC_Template : public mrpt::utils::COutputLogger
                {
                public:
                        RANSAC_Template() :
                                mrpt::utils::COutputLogger("RANSAC_Template")
                        {
                        }

                        /** The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. */
                        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. */
                        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. */
                        typedef bool (*TRansacDegenerateFunctor)(
                                const CMatrixTemplateNumeric<NUMTYPE>  &allData,
                                const mrpt::vector_size_t &useIndices );

                        /** An implementation of the RANSAC algorithm for robust fitting of models to data.
                          *
                          *  \param data A DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points.
                          *  \param
                          *
                          *  This implementation is highly inspired on Peter Kovesi's MATLAB scripts (http://www.csse.uwa.edu.au/~pk).
                          * \return false if no good solution can be found, true on success.
                          * \note [MRPT 1.5.0] `verbose` parameter has been removed, supersedded by COutputLogger settings.
                          */
                        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,
                                const double                prob_good_sample = 0.999,
                                const size_t                            maxIter = 2000
                                ) const;

                }; // end class

                typedef RANSAC_Template<double> RANSAC;   //!< The default instance of RANSAC, for double type

                /** @} */

        } // End of namespace
} // End of namespace

#endif