ransac.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/system/COutputLogger.h>
#include <mrpt/math/CMatrixTemplateNumeric.h>
#include <set>
#include <functional>
 
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 CMatrixTemplateNumeric<NUMTYPE>& allData,
        const std::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. */
    using TRansacDistanceFunctor = std::function<void(
        const CMatrixTemplateNumeric<NUMTYPE>& allData,
        const std::vector<CMatrixTemplateNumeric<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 CMatrixTemplateNumeric<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 CMatrixTemplateNumeric<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,
        CMatrixTemplateNumeric<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>;
 
/** @} */
 
}