MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Attributes
mrpt::math::RANSAC_Template< NUMTYPE > Class Template Reference

Detailed Description

template<typename NUMTYPE = double>
class mrpt::math::RANSAC_Template< NUMTYPE >

A generic RANSAC implementation with models as matrices.

See RANSAC_Template::execute for more info on usage.

See also
mrpt::math::ModelSearch, a more versatile RANSAC implementation where models can be anything else, not only matrices.

Definition at line 28 of file ransac.h.

#include <mrpt/math/ransac.h>

Inheritance diagram for mrpt::math::RANSAC_Template< NUMTYPE >:

Public Types

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. More...
 
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. More...
 
using TRansacDegenerateFunctor = std::function< bool(const CMatrixDynamic< NUMTYPE > &allData, const std::vector< size_t > &useIndices)>
 The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info. More...
 

Public Member Functions

 RANSAC_Template ()
 
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
 An implementation of the RANSAC algorithm for robust fitting of models to data. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 

Member Typedef Documentation

◆ TRansacDegenerateFunctor

template<typename NUMTYPE = double>
using mrpt::math::RANSAC_Template< NUMTYPE >::TRansacDegenerateFunctor = std::function<bool( const CMatrixDynamic<NUMTYPE>& allData, const std::vector<size_t>& useIndices)>

The type of the function passed to mrpt::math::ransac - See the documentation for that method for more info.

Definition at line 51 of file ransac.h.

◆ TRansacDistanceFunctor

template<typename NUMTYPE = double>
using mrpt::math::RANSAC_Template< NUMTYPE >::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.

Definition at line 45 of file ransac.h.

◆ TRansacFitFunctor

template<typename NUMTYPE = double>
using mrpt::math::RANSAC_Template< NUMTYPE >::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.

Definition at line 37 of file ransac.h.

Constructor & Destructor Documentation

◆ RANSAC_Template()

template<typename NUMTYPE = double>
mrpt::math::RANSAC_Template< NUMTYPE >::RANSAC_Template ( )
inline

Definition at line 31 of file ransac.h.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ execute()

template<typename NUMTYPE >
bool RANSAC_Template::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

An implementation of the RANSAC algorithm for robust fitting of models to data.

Parameters
dataA DxN matrix with all the observed data. D is the dimensionality of data points and N the number of points.
Thisimplementation 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.
Note
[MRPT 1.5.0] verbose parameter has been removed, supersedded by COutputLogger settings.

Definition at line 24 of file ransac.cpp.

References ASSERT_, mrpt::random::CRandomGenerator::drawUniformVector(), mrpt::format(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_INFO, MRPT_LOG_WARN, MRPT_START, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::math::CMatrixDynamic< T >::setSize().

Referenced by mrpt::math::ransac_detect_2D_lines().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

Here is the caller graph for this function:

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

Here is the call graph for this function:

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

Here is the caller graph for this function:

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

Here is the caller graph for this function:

◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

Here is the call graph for this function:

◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

Here is the caller graph for this function:

◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

Here is the caller graph for this function:

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

Here is the caller graph for this function:

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Here is the call graph for this function:

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 479715d5b Tue Nov 12 07:26:21 2019 +0100 at mar nov 12 07:30:12 CET 2019