ransac_options.h

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/*
 * Copyright (c) 2015, The Regents of the University of California (Regents).
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 * Authors: Erik Nelson            ( eanelson@eecs.berkeley.edu )
 *          David Fridovich-Keil   ( dfk@eecs.berkeley.edu )
 */

///////////////////////////////////////////////////////////////////////////////
//
// This struct defines a set of options that are used for RANSAC (generic).
// Note that because the Ransac class solves generic RANSAC problems, the
// default values in these options could be very far from a good choice for the
// specific RANSAC problem!
//
///////////////////////////////////////////////////////////////////////////////

#ifndef BSFM_RANSAC_RANSAC_OPTIONS_H
#define BSFM_RANSAC_RANSAC_OPTIONS_H

namespace bsfm {

struct RansacOptions {

  // Number of iterations to run RANSAC for.
  unsigned int iterations = 100;

  // In order to be considered an inlier, a data point must fit the RANSAC model
  // to at least this error. This value is extremely arbitrary - tweak it for
  // the specific problem!
  double acceptable_error = 1e-3;

  // The minimum number of inliers needed to consider a model "good". If ANY
  // model is considered "good", then RANSAC has found a solution, and will
  // simply try to find a better one until it has run out of iterations.
  // Again, this value is extremely arbitrary!
  unsigned int minimum_num_inliers = 10;

  // Number of points required for each minimal sampling to compute a (possibly
  // erroneous) RANSAC model.
  unsigned int num_samples = 8;

};  //\struct RansacOptions

}  //\namespace bsfm
#endif