cvr::ransacEstimation< E > Class Template Reference
[Geometric Image Transformations]

Template Class ransacEstimation<E>. More...

#include <cvrRansacEstimation.h>

Inheritance diagram for cvr::ransacEstimation< E >:

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Collaboration diagram for cvr::ransacEstimation< E >:

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List of all members.

Classes
class	parameters
	The parameters for the class ransacEstimation. More...
Public Member Functions
	ransacEstimation ()
	ransacEstimation (const parameters &par)
	ransacEstimation (const ransacEstimation< E > &other)
virtual	~ransacEstimation ()
template<class P >
bool	apply (const std::vector< P > &setA, const std::vector< P > &setB, typename E::parameters &result) const
template<class P >
bool	apply (const std::vector< P > &setA, const std::vector< P > &setB, ivector &inliers, typename E::parameters &result) const
ransacEstimation< E > &	copy (const ransacEstimation< E > &other)
ransacEstimation< E > &	operator= (const ransacEstimation< E > &other)
virtual const std::string &	name () const
virtual ransacEstimation< E > *	clone () const
virtual ransacEstimation< E > *	newInstance () const
const parameters &	getParameters () const
virtual bool	updateParameters ()

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Detailed Description

template<class E>
class cvr::ransacEstimation< E >

Template Class ransacEstimation<E>.

This class estimates a transform E using the RANSAC algorithm, which is a robust estimation approach that maximizes the number of inliers. At each iteration a subset of points/correspondences is drawn from which the transform is computed.

Theoretically the RANSAC algorithm copes with up to 90% outliers. It is advised though, to verify the estimated transform and repeat the estimation in case the result is not satisfactory.

The template type E corresponds to a basic estimation class like:

• cvr::euclideanTransformation2D
• cvr::similarityTransformation2D
• cvr::affineTransformation2D

In any case, it is expected for that class E to provide the methods

• estimateLLS(const ivector&,const std::vector<P>&,const std::vector<P>&)
• dof()

See also:

ransacEstimation::parameters.

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Constructor & Destructor Documentation

template<class E>

cvr::ransacEstimation< E >::ransacEstimation

(

)

Default constructor.

template<class E>

cvr::ransacEstimation< E >::ransacEstimation

(

const parameters &

par

)

Construct a functor using the given parameters.

template<class E>

cvr::ransacEstimation< E >::ransacEstimation

(

const ransacEstimation< E > &

other

)

Copy constructor.

Parameters:

other

the object to be copied

template<class E>

virtual cvr::ransacEstimation< E >::~ransacEstimation

(

)

[virtual]

Destructor.

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Member Function Documentation

template<class E>

template<class P >

bool cvr::ransacEstimation< E >::apply	(	const std::vector< P > &	setA,
		const std::vector< P > &	setB,
		ivector &	inliers,
		typename E::parameters &	result
	)			const [inline]

Estimates the transformation for the given set of correspondences.

It will be assumed that for any valid index i the point setA[i] has a correspondent point setB[i].

Parameters:

	setA	first set of points of type P.
	setB	second set of points of type P.
	inliers	output container with the indices of the inliers detected
	dest	std::vector<P> where the result will be left.

Returns:

true if apply successful or false otherwise.

template<class E>

template<class P >

bool cvr::ransacEstimation< E >::apply	(	const std::vector< P > &	setA,
		const std::vector< P > &	setB,
		typename E::parameters &	result
	)			const [inline]

Estimates the transformation for the given set of correspondences.

It will be assumed that for any valid index i the point setA[i] has a correspondent point setB[i].

Parameters:

	setA	first set of points of type P.
	setB	second set of points of type P.
	dest	std::vector<P> where the result will be left.

Returns:

true if apply successful or false otherwise.

template<class E>

virtual ransacEstimation<E>* cvr::ransacEstimation< E >::clone

(

)

const [virtual]

Returns a pointer to a clone of this functor.

Implements cvr::functor.

template<class E>

ransacEstimation<E>& cvr::ransacEstimation< E >::copy

(

const ransacEstimation< E > &

other

)

Copy data of "other" functor.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

template<class E>

const parameters& cvr::ransacEstimation< E >::getParameters

(

)

const

Returns used parameters.

Reimplemented from cvr::parametersManager.

template<class E>

virtual const std::string& cvr::ransacEstimation< E >::name

(

)

const [virtual]

Returns the name of this type, which depends on the template parameters.

Implements cvr::functor.

template<class E>

virtual ransacEstimation<E>* cvr::ransacEstimation< E >::newInstance

(

)

const [virtual]

Returns a pointer to a new instance of this functor.

Implements cvr::functor.

template<class E>

ransacEstimation<E>& cvr::ransacEstimation< E >::operator=

(

const ransacEstimation< E > &

other

)

Alias for copy member.

Parameters:

other

the functor to be copied

Returns:

a reference to this functor object

template<class E>

virtual bool cvr::ransacEstimation< E >::updateParameters

(

)

[virtual]

Update parameters.

Reimplemented from cvr::parametersManager.

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

• cvrRansacEstimation.h