bsfm::Ransac< DataType, ModelType > Class Template Reference

#include <ransac.h>

Public Member Functions
	Ransac ()
	~Ransac ()
void	SetOptions (const RansacOptions &options)
bool	Run (RansacProblem< DataType, ModelType > &problem) const

Private Attributes
RansacOptions	options_

Detailed Description

template<typename DataType, typename ModelType>
class bsfm::Ransac< DataType, ModelType >

Definition at line 58 of file ransac.h.

Constructor & Destructor Documentation

template<typename DataType , typename ModelType >

bsfm::Ransac< DataType, ModelType >::Ransac ( )

inline

Definition at line 60 of file ransac.h.

{ }

template<typename DataType , typename ModelType >

bsfm::Ransac< DataType, ModelType >::~Ransac ( )

inline

Definition at line 61 of file ransac.h.

{ }

Member Function Documentation

template<typename DataType , typename ModelType >

bool bsfm::Ransac< DataType, ModelType >::Run ( RansacProblem< DataType, ModelType > &  problem ) const

inline

Definition at line 83 of file ransac.h.

                                                       {
  // By default, a valid model has not been found.
  problem.SetSolutionFound(false);

  // Set the initial error to something very large.
  double best_error = std::numeric_limits<double>::infinity();

  // Proceed for options_.iterations iterations of RANSAC.
  for (unsigned int iter = 0; iter < options_.iterations; ++iter) {
    // Sample data points.
    std::vector<DataType> sampled = problem.SampleData(options_.num_samples);

    // Fit a model to the sampled data points.
    ModelType initial_model = problem.FitModel(sampled);

    // Which of the remaining points are also inliers under this model?
    std::vector<DataType> unsampled = problem.RemainingData(options_.num_samples);
    std::vector<DataType> inliers(sampled);
    for (const auto& not_sampled_data_point : unsampled) {
      if (initial_model.IsGoodFit(not_sampled_data_point,
                                  options_.acceptable_error)) {
        inliers.push_back(not_sampled_data_point);
      }
    }

    // Check if we have enough inliers to consider this a good model.
    if (inliers.size() >= options_.minimum_num_inliers) {

      // Test how good this model is.
      ModelType better_model = problem.FitModel(inliers);

      // Is this the best model yet?
      double this_error = better_model.Error();
      if (this_error < best_error) {
        best_error = this_error;
        problem.SetModel(better_model);
        problem.SetInliers(inliers);
        problem.SetSolutionFound(true);
      }
    }
  }

  // See if RANSAC found a solution.
  if (!problem.SolutionFound()) {
    VLOG(1) << "RANSAC failed to find a solution in " << options_.iterations
            << " iterations.";
    return false;
  }

  return true;
}

template<typename DataType , typename ModelType >

void bsfm::Ransac< DataType, ModelType >::SetOptions ( const RansacOptions &  options )

inline

Definition at line 78 of file ransac.h.

                                                                         {
  options_ = options;
}

Member Data Documentation

template<typename DataType , typename ModelType >

RansacOptions bsfm::Ransac< DataType, ModelType >::options_

private

Definition at line 72 of file ransac.h.

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The documentation for this class was generated from the following file:

• /Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/ransac.h