ransac.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CMatrixDynamic.h>
#include <mrpt/system/COutputLogger.h>
#include <functional>
#include <set>

namespace mrpt::math
{
/** @addtogroup ransac_grp RANSAC and other model fitting algorithms
 * \ingroup mrpt_math_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 RANSAC_Template : public mrpt::system::COutputLogger
{
   public:
    RANSAC_Template() : mrpt::system::COutputLogger("RANSAC_Template") {}
    /** The type of the function passed to mrpt::math::ransac - See the
     * documentation for that method for more info. */
    using TRansacFitFunctor = std::function<void(
        const CMatrixDynamic<NUMTYPE>& allData,
        const std::vector<size_t>& useIndices,
        std::vector<CMatrixDynamic<NUMTYPE>>& fitModels)>;

    /** The type of the function passed to mrpt::math::ransac  - See the
     * documentation for that method for more info. */
    using TRansacDistanceFunctor = std::function<void(
        const CMatrixDynamic<NUMTYPE>& allData,
        const std::vector<CMatrixDynamic<NUMTYPE>>& testModels,
        const NUMTYPE distanceThreshold, unsigned int& out_bestModelIndex,
        std::vector<size_t>& out_inlierIndices)>;

    /** The type of the function passed to mrpt::math::ransac  - See the
     * documentation for that method for more info. */
    using TRansacDegenerateFunctor = std::function<bool(
        const CMatrixDynamic<NUMTYPE>& allData,
        const std::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 CMatrixDynamic<NUMTYPE>& data, const TRansacFitFunctor& fit_func,
        const TRansacDistanceFunctor& dist_func,
        const TRansacDegenerateFunctor& degen_func,
        const double distanceThreshold,
        const unsigned int minimumSizeSamplesToFit,
        std::vector<size_t>& out_best_inliers,
        CMatrixDynamic<NUMTYPE>& out_best_model,
        const double prob_good_sample = 0.999,
        const size_t maxIter = 2000) const;

};  // end class

/** The default instance of RANSAC, for double type */
using RANSAC = RANSAC_Template<double>;

/** @} */

}  // namespace mrpt::math