RANSAC and other model fitting algorithms

Detailed Description

Collaboration diagram for RANSAC and other model fitting algorithms:

Classes
class	mrpt::math::ModelSearch
	Model search implementations: RANSAC and genetic algorithm. More...
class	mrpt::math::RANSAC_Template< NUMTYPE, DATASET, MODEL >
	A generic RANSAC implementation. More...

Typedefs
using	mrpt::math::RANSAC = RANSAC_Template< double >
	The default instance of RANSAC, for double type. More...

Functions
template<typename T >
size_t	mrpt::math::ransacDatasetSize (const CMatrixDynamic< T > &dataset)
	Define overloaded functions for user types as required. More...

RANSAC detectors
template<typename NUMTYPE >
void	mrpt::math::ransac_detect_3D_planes (const CVectorDynamic< NUMTYPE > &x, const CVectorDynamic< NUMTYPE > &y, const CVectorDynamic< NUMTYPE > &z, std::vector< std::pair< size_t, TPlane >> &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane=10)
	Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers. More...
template<typename NUMTYPE >
void	mrpt::math::ransac_detect_2D_lines (const CVectorDynamic< NUMTYPE > &x, const CVectorDynamic< NUMTYPE > &y, std::vector< std::pair< size_t, TLine2D >> &out_detected_lines, const double threshold, const size_t min_inliers_for_valid_line=5)
	Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers. More...
template<class POINTSMAP >
void	mrpt::math::ransac_detect_3D_planes (const POINTSMAP *points_map, std::vector< std::pair< size_t, TPlane >> &out_detected_planes, const double threshold, const size_t min_inliers_for_valid_plane)
	A stub for ransac_detect_3D_planes() with the points given as a mrpt::maps::CPointsMap. More...

Typedef Documentation

RANSAC

using mrpt::math::RANSAC = typedef RANSAC_Template<double>

The default instance of RANSAC, for double type.

Definition at line 96 of file ransac.h.

Function Documentation

ransac_detect_2D_lines()

template<typename NUMTYPE >

void mrpt::math::ransac_detect_2D_lines	(	const CVectorDynamic< NUMTYPE > &	x,
		const CVectorDynamic< NUMTYPE > &	y,
		std::vector< std::pair< size_t, TLine2D >> &	out_detected_lines,
		const double	threshold,
		const size_t	min_inliers_for_valid_line = 5
	)

Fit a number of 2-D lines to a given point cloud, automatically determining the number of existing lines by means of the provided threshold and minimum number of supporting inliers.

Parameters

out_detected_lines	The output list of pairs: number of supporting inliers, detected line.
threshold	The maximum distance between a point and a temptative line such as the point is considered an inlier.
min_inliers_for_valid_line	The minimum number of supporting inliers to consider a line as valid.

Definition at line 263 of file ransac_applications.cpp.

References ASSERT_, mrpt::math::CVectorDynamic< T >::empty(), mrpt::math::RANSAC_Template< NUMTYPE, DATASET, MODEL >::execute(), mrpt::system::LVL_INFO, MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::setRow(), mrpt::system::COutputLogger::setVerbosityLevel(), and mrpt::math::CVectorDynamic< T >::size().

Here is the call graph for this function:

ransac_detect_3D_planes() [1/2]

template<typename NUMTYPE >

void mrpt::math::ransac_detect_3D_planes	(	const CVectorDynamic< NUMTYPE > &	x,
		const CVectorDynamic< NUMTYPE > &	y,
		const CVectorDynamic< NUMTYPE > &	z,
		std::vector< std::pair< size_t, TPlane >> &	out_detected_planes,
		const double	threshold,
		const size_t	min_inliers_for_valid_plane = 10
	)

Fit a number of 3-D planes to a given point cloud, automatically determining the number of existing planes by means of the provided threshold and minimum number of supporting inliers.

Parameters

out_detected_planes	The output list of pairs: number of supporting inliers, detected plane.
threshold	The maximum distance between a point and a temptative plane such as the point is considered an inlier.
min_inliers_for_valid_plane	The minimum number of supporting inliers to consider a plane as valid.

Referenced by mrpt::math::ransac_detect_3D_planes().

Here is the caller graph for this function:

ransac_detect_3D_planes() [2/2]

template<class POINTSMAP >

void mrpt::math::ransac_detect_3D_planes ( const POINTSMAP *  points_map, std::vector< std::pair< size_t, TPlane >> &  out_detected_planes, const double  threshold, const size_t  min_inliers_for_valid_plane  )

inline

A stub for ransac_detect_3D_planes() with the points given as a mrpt::maps::CPointsMap.

Definition at line 64 of file ransac_applications.h.

References mrpt::math::ransac_detect_3D_planes().

Here is the call graph for this function:

ransacDatasetSize()

template<typename T >

size_t mrpt::math::ransacDatasetSize

(

const CMatrixDynamic< T > &

dataset

)

Define overloaded functions for user types as required.

This default implementation assumes datasets in matrices, with each sample being a column, the dimensionality being the number of rows.

Definition at line 26 of file ransac.h.

References mrpt::math::CMatrixDynamic< T >::cols().

Referenced by mrpt::math::RANSAC_Template< NUMTYPE, DATASET, MODEL >::execute().

Here is the call graph for this function:

Here is the caller graph for this function: