vpRansac< vpTransformation > Class Template Reference

#include <visp3/core/vpRansac.h>

Static Public Member Functions
static bool	ransac (unsigned int npts, const vpColVector &x, unsigned int s, double t, vpColVector &model, vpColVector &inliers, int consensus=1000, double not_used=0.0, int maxNbumbersOfTrials=10000, double *residual=nullptr)

Detailed Description

template<class vpTransformation>
class vpRansac< vpTransformation >

This class is a generic implementation of the Ransac algorithm. It cannot be used alone.

RANSAC is described in [15] and [19].

The code of this class is inspired by : Peter Kovesi School of Computer Science & Software Engineering The University of Western Australia pk at csse uwa edu au http://www.csse.uwa.edu.au/~pk

See also

vpHomography

Definition at line 65 of file vpRansac.h.

Member Function Documentation

ransac()

template<class vpTransformation >

bool vpRansac< vpTransformation >::ransac ( unsigned int  npts, const vpColVector &  x, unsigned int  s, double  t, vpColVector &  M, vpColVector &  inliers, int  consensus = 1000, double  not_used = 0.0, int  maxNbumbersOfTrials = 10000, double *  residual = nullptr  )

static

RANSAC - Robustly fits a model to data with the RANSAC algorithm.

Parameters

[in]	npts	: The number of data points.
[in]	x	: Data sets to which we are seeking to fit a model M. It is assumed that x is of size [d x Npts] where d is the dimensionality of the data and npts is the number of data points.
[in]	s	: The minimum number of samples from x required by fitting fn to fit a model. Value should be greater or equal to 4.
[in]	t	: The distance threshold between data point and the model used to decide whether a point is an inlier or not.
[out]	M	: The model having the greatest number of inliers.
[out]	inliers	: An array of indices of the elements of x that were the inliers for the best model.
[in]	consensus	: Consensus
[in]	not_used	: Unused parameter.
[in]	maxNbumbersOfTrials	: Maximum number of trials. Even if a solution is not found, the method is stopped.
[out]	residual	: Residual

Definition at line 106 of file vpRansac.h.

References vpException::fatalError, vpMath::maximum(), vpMath::minimum(), vpERROR_TRACE, and vpTRACE.