Visual Servoing Platform
version 3.5.1 under development (2023-09-22)
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#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=NULL) |
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
Definition at line 67 of file vpRansac.h.
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RANSAC - Robustly fits a model to data with the RANSAC algorithm.
[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 108 of file vpRansac.h.
References vpException::fatalError, vpMath::maximum(), vpMath::minimum(), vpERROR_TRACE, and vpTRACE.