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
{
namespace 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>;
 
/** @} */
 
}  // End of namespace
}  // End of namespace