Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
alvar::RansacImpl Class Reference

Internal implementation of RANSAC. Please use Ransac or IndexRansac. More...

#include <Ransac.h>

Inheritance diagram for alvar::RansacImpl:
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Public Member Functions

int estimateRequiredRounds (float success_propability, float inlier_percentage)
 How many rounds are needed for the Ransac to work. More...
 

Protected Member Functions

virtual void _doEstimate (void **params, int param_c, void *model)
 
virtual void _doEstimate (int *params, int param_c, void *model)
 
virtual bool _doSupports (void *param, void *model)
 
virtual bool _doSupports (int param, void *model)
 
int _estimate (void *params, int param_c, int support_limit, int max_rounds, void *model)
 
int _estimate (int param_c, int support_limit, int max_rounds, void *model)
 
int _refine (void *params, int param_c, int support_limit, int max_rounds, void *model, char *inlier_mask=NULL)
 
int _refine (int param_c, int support_limit, int max_rounds, void *model, char *inlier_mask=NULL)
 
 RansacImpl (int min_params, int max_params, int sizeof_param, int sizeof_model)
 
 RansacImpl (int min_params, int max_params, int sizeof_model)
 
virtual ~RansacImpl ()
 

Protected Attributes

void * hypothesis
 
int * indices
 
int max_params
 
int min_params
 
void ** samples
 
int sizeof_model
 
int sizeof_param
 

Detailed Description

Internal implementation of RANSAC. Please use Ransac or IndexRansac.

Definition at line 41 of file Ransac.h.

Constructor & Destructor Documentation

alvar::RansacImpl::RansacImpl ( int  min_params,
int  max_params,
int  sizeof_param,
int  sizeof_model 
)
protected

Definition at line 34 of file Ransac.cpp.

alvar::RansacImpl::~RansacImpl ( )
protectedvirtual

Definition at line 59 of file Ransac.cpp.

alvar::RansacImpl::RansacImpl ( int  min_params,
int  max_params,
int  sizeof_model 
)
protected

IndexRansac version

Definition at line 148 of file Ransac.cpp.

Member Function Documentation

virtual void alvar::RansacImpl::_doEstimate ( void **  params,
int  param_c,
void *  model 
)
inlineprotectedvirtual

Reimplemented in alvar::Ransac< MODEL, PARAMETER >.

Definition at line 63 of file Ransac.h.

virtual void alvar::RansacImpl::_doEstimate ( int *  params,
int  param_c,
void *  model 
)
inlineprotectedvirtual

Reimplemented in alvar::IndexRansac< MODEL >.

Definition at line 80 of file Ransac.h.

virtual bool alvar::RansacImpl::_doSupports ( void *  param,
void *  model 
)
inlineprotectedvirtual

Reimplemented in alvar::Ransac< MODEL, PARAMETER >.

Definition at line 64 of file Ransac.h.

virtual bool alvar::RansacImpl::_doSupports ( int  param,
void *  model 
)
inlineprotectedvirtual

Reimplemented in alvar::IndexRansac< MODEL >.

Definition at line 81 of file Ransac.h.

int alvar::RansacImpl::_estimate ( void *  params,
int  param_c,
int  support_limit,
int  max_rounds,
void *  model 
)
protected

Definition at line 65 of file Ransac.cpp.

int alvar::RansacImpl::_estimate ( int  param_c,
int  support_limit,
int  max_rounds,
void *  model 
)
protected

Definition at line 164 of file Ransac.cpp.

int alvar::RansacImpl::_refine ( void *  params,
int  param_c,
int  support_limit,
int  max_rounds,
void *  model,
char *  inlier_mask = NULL 
)
protected

Definition at line 108 of file Ransac.cpp.

int alvar::RansacImpl::_refine ( int  param_c,
int  support_limit,
int  max_rounds,
void *  model,
char *  inlier_mask = NULL 
)
protected

Definition at line 206 of file Ransac.cpp.

int alvar::RansacImpl::estimateRequiredRounds ( float  success_propability,
float  inlier_percentage 
)

How many rounds are needed for the Ransac to work.

Computes the required amount of rounds from the estimated inlier percentage and required propability of successfully finding the inlier set.

Parameters
success_propabilityRequired success propability, (range 0..1)
inlier_percentageEstimated amount of inliers in the parameter set, range(0..1).
Returns
The required number of rounds that can be used as max_rounds when calling the estimate method.

public methods

Definition at line 247 of file Ransac.cpp.

Member Data Documentation

void* alvar::RansacImpl::hypothesis
protected

Definition at line 45 of file Ransac.h.

int* alvar::RansacImpl::indices
protected

IndexRansac version

Definition at line 64 of file Ransac.h.

int alvar::RansacImpl::max_params
protected

Definition at line 47 of file Ransac.h.

int alvar::RansacImpl::min_params
protected

Definition at line 46 of file Ransac.h.

void** alvar::RansacImpl::samples
protected

Definition at line 44 of file Ransac.h.

int alvar::RansacImpl::sizeof_model
protected

Definition at line 49 of file Ransac.h.

int alvar::RansacImpl::sizeof_param
protected

Definition at line 48 of file Ransac.h.


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


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Mon Jun 10 2019 12:47:04