PARP Research Group

Universidad de Murcia

---

src/qvmath/qvsampleconsensus.h /* * Copyright (C) 2007, 2008, 2009, 2010, 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #ifndef QVRANSAC_H #define QVRANSAC_H #include <iostream> #include <QMap> #include <qvmath.h> template <typename Element, typename Model> class QVRANSAC { protected: int sampleSetSize, minInliers, iteration; // To use after initialization QList< Element > elements; bool continueCondition; // To return to the user. QList<Element> bestInliers; Model bestModel; virtual bool init() { // Check if there are enough in-liners to work. if (elements.size() < sampleSetSize) return continueCondition = false; else return continueCondition = true; } virtual const QList< Element > getNewTentativeInliersSet() { QVector<int> indexes; indexes.reserve(this->sampleSetSize); for (int i = 0; i < this->sampleSetSize; i++) { int index = RANDOM(0, this->elements.size()-1); // Do not include the same element twice. while( indexes.contains(index) ) index = RANDOM(0, this->elements.size()-1); //result.append(this->elements.at( index )); indexes << index; } QList< Element > result; result.reserve(indexes.count()); foreach(int index, indexes) result << this->elements.at( index ); return result; } public: QVRANSAC(const int sampleSetSize, const int minInliers):sampleSetSize(sampleSetSize), minInliers(minInliers) { } virtual bool fit(const QList<Element> &elementList, Model &model) = 0; virtual bool test(const Model &model, const Element &element) = 0; void addElement(const Element &element) { elements.append(element); } const Model & getBestModel() const { return bestModel; } const QList<Element> & getBestInliers() const { return bestInliers; } int getIterations() const { return iteration; } bool iterate(const int maxIterations) { if (!init()) return false; iteration = 0; while(continueCondition && (iteration++) < maxIterations) { // Get new feasible maybe model. Model tentativeModel; // If no feasible model was found, continue with the next tentative set. if (!fit(getNewTentativeInliersSet(), tentativeModel)) continue; // Else, get consensus set. QList<Element> inliersSet; foreach (Element element, elements) if (test(tentativeModel, element)) inliersSet.append(element); // Get consensus model. if (inliersSet.size() >= minInliers ) { fit(inliersSet, tentativeModel); bestModel = tentativeModel; bestInliers = inliersSet; return true; } } return false; } }; template <typename Element, typename Model> class QVPROSAC: public QVRANSAC<Element, Model> { protected: QMap<double, Element > elementsMap; #ifndef DOXYGEN_IGNORE_THIS virtual const QList< Element > getNewTentativeInliersSet() { const int maxSize = 2* log(this->getIterations()) / log(2); QList< Element > result; for (int i = 0; i < this->sampleSetSize; i++) result.append(this->elements.at( RANDOM(0, MAX(this->sampleSetSize, maxSize-1)) )); return result; } bool init() { const QList<double> preferenceList = elementsMap.uniqueKeys(); for (int i = 0; i < preferenceList.size(); i++) this->elements += elementsMap.values(preferenceList.at(i)); return QVRANSAC<Element, Model>::init(); } #endif public: QVPROSAC(const int sampleSetSize, const int minInliers): QVRANSAC<Element, Model>(sampleSetSize, minInliers) { } void addElement(const Element &element, const double preference = 0) { elementsMap.insertMulti(preference, element); } }; #endif

---

QVision framework. PARP research group. Copyright © 2007, 2008, 2009, 2010, 2011.