29 template <
typename NUMTYPE =
double>
35 typedef void (*TRansacFitFunctor)(
38 std::vector< CMatrixTemplateNumeric<NUMTYPE> > &fitModels );
41 typedef void (*TRansacDistanceFunctor)(
43 const std::vector< CMatrixTemplateNumeric<NUMTYPE> > & testModels,
44 const NUMTYPE distanceThreshold,
45 unsigned int & out_bestModelIndex,
49 typedef bool (*TRansacDegenerateFunctor)(
63 TRansacFitFunctor fit_func,
64 TRansacDistanceFunctor dist_func,
65 TRansacDegenerateFunctor degen_func,
66 const double distanceThreshold,
67 const unsigned int minimumSizeSamplesToFit,
71 const double prob_good_sample = 0.999,
72 const size_t maxIter = 2000
A matrix of dynamic size.
A generic RANSAC implementation with models as matrices.
static bool execute(const CMatrixTemplateNumeric< NUMTYPE > &data, TRansacFitFunctor fit_func, TRansacDistanceFunctor dist_func, TRansacDegenerateFunctor degen_func, const double distanceThreshold, const unsigned int minimumSizeSamplesToFit, mrpt::vector_size_t &out_best_inliers, CMatrixTemplateNumeric< NUMTYPE > &out_best_model, bool verbose=false, const double prob_good_sample=0.999, const size_t maxIter=2000)
An implementation of the RANSAC algorithm for robust fitting of models to data.
This base class provides a common printf-like method to send debug information to std::cout,...
std::vector< size_t > vector_size_t
RANSAC_Template< double > RANSAC
The default instance of RANSAC, for double type.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.