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 >
	A generic RANSAC implementation with models as matrices. More...

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

RANSAC detectors
template<typename NUMTYPE >
void	mrpt::math::ransac_detect_3D_planes (const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &y, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &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 Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &x, const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &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 81 of file ransac.h.

Function Documentation

◆ ransac_detect_2D_lines()

template<typename NUMTYPE >

void mrpt::math::ransac_detect_2D_lines	(	const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &	x,
		const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &	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 280 of file ransac_applications.cpp.

References ASSERT_, mrpt::math::RANSAC_Template< NUMTYPE >::execute(), mrpt::system::LVL_INFO, MRPT_END, MRPT_START, and mrpt::system::COutputLogger::setVerbosityLevel().

◆ ransac_detect_3D_planes() [1/2]

template<typename NUMTYPE >

void mrpt::math::ransac_detect_3D_planes	(	const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &	x,
		const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &	y,
		const Eigen::Matrix< NUMTYPE, Eigen::Dynamic, 1 > &	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().

◆ 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 65 of file ransac_applications.h.

References mrpt::math::ransac_detect_3D_planes().