OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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MultiRansac.hpp
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1/******************************************************************************
2 * Authors: Laurent Kneip & Paul Furgale *
3 * Contact: kneip.laurent@gmail.com *
4 * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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30
31//Note: has been derived from ROS
32
41#ifndef OPENGV_SAC_MULTIRANSAC_HPP_
42#define OPENGV_SAC_MULTIRANSAC_HPP_
43
44#include <vector>
46#include <cstdio>
47
51namespace opengv
52{
56namespace sac
57{
58
63template<typename PROBLEM_T>
64class MultiRansac : public MultiSampleConsensus<PROBLEM_T>
65{
66public:
68 typedef PROBLEM_T problem_t;
70 typedef typename problem_t::model_t model_t;
71
80
85 int maxIterations = 1000,
86 double threshold = 1.0,
87 double probability = 0.99 );
91 virtual ~MultiRansac();
92
96 bool computeModel( int debug_verbosity_level = 0 );
97};
98
99} // namespace sac
100} // namespace opengv
101
102#include "implementation/MultiRansac.hpp"
103
104#endif /* OPENGV_SAC_MULTIRANSAC_HPP_ */
This is a base class for sample consensus methods such as Ransac. Derivatives call the three basic fu...
Definition MultiRansac.hpp:65
problem_t::model_t model_t
Definition MultiRansac.hpp:70
virtual ~MultiRansac()
Destructor.
MultiRansac(int maxIterations=1000, double threshold=1.0, double probability=0.99)
Constructor.
PROBLEM_T problem_t
Definition MultiRansac.hpp:68
bool computeModel(int debug_verbosity_level=0)
Fit the model.
Definition MultiSampleConsensus.hpp:63
int iterations_
Definition MultiSampleConsensus.hpp:100
std::shared_ptr< PROBLEM_T > sac_model_
Definition MultiSampleConsensus.hpp:112
std::vector< std::vector< int > > model_
Definition MultiSampleConsensus.hpp:108
double threshold_
Definition MultiSampleConsensus.hpp:102
model_t model_coefficients_
Definition MultiSampleConsensus.hpp:106
std::vector< std::vector< int > > inliers_
Definition MultiSampleConsensus.hpp:110
int max_iterations_
Definition MultiSampleConsensus.hpp:98
double probability_
Definition MultiSampleConsensus.hpp:104
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48