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154 | #ifndef RANSAC_TOOLS_H
#define RANSAC_TOOLS_H
#include <iostream>
#include <vector>
#include <Tools/Math/Common.h>
#include <Tools/Math/Line.h>
#include "Representations/Perception/LineGraphPercept.h"
#include "Tools/Math/Geometry.h"
namespace ransac {
Vector2i choose_random_two(const std::vector<size_t> &vec);
double angle_variance(const std::vector<Edgel>& edgels,
const std::vector<size_t>& inlier_idx);
class LineModel {
public:
int inlier;
double inlierError;
Math::Line line;
LineModel() : inlier(0), inlierError(0) {}
LineModel(const Edgel& edgel1, const Edgel& edgel2) :
inlier(0),
inlierError(0)
{
line = Math::Line(edgel1.point, edgel2.point-edgel1.point);
}
bool betterThan(const LineModel& other) const;
Math::LineSegment getLineSegment(const std::vector<Edgel>& edgels,
const std::vector<size_t>& inlier_idx) const;
inline double distance(const Edgel& edgel) const {
return line.minDistance(edgel.point);
}
/*
// calculate the similarity to the edgel
// returns a value [0,1], 0 - not simmilar, 1 - very simmilar
inline double similarity(const Edgel& edgel) const
{
double s = 0.0;
if(line.getDirection()*edgel.direction > 0) {
Vector2d v(edgel.point - line.getBase());
v.rotateRight().normalize();
s = 1.0-0.5*(fabs(line.getDirection()*v) + fabs(edgel.direction*v));
}
return s;
}*/
inline double angle_diff(const Edgel& edgel) const
{
double a = std::fabs(line.getDirection().angleTo(edgel.direction));
return std::min(a, Math::pi - a);
}
};
class RansacLine {
public:
int iterations;
double outlierThresholdAngle;
double outlierThresholdDist;
public:
RansacLine(int iterations, double outlierThresholdAngle, double outlierThresholdDist);
void setParameters(int iterations, double outlierThresholdAngle,
double outlierThresholdDist);
bool find_best_model(LineModel& bestModel, const std::vector<Edgel>& edgels,
const std::vector<size_t>& edgel_idx) const;
void get_inliers(const LineModel& model, const std::vector<Edgel>& edgels,
const std::vector<size_t>& edgel_idx,
std::vector<size_t>& inlier_idx,
std::vector<size_t>& outlier_idx) const;
};
class CircleModel {
public:
int inlier;
double inlierError;
double radius;
Vector2d circle_mean;
// constructors
CircleModel() : inlier(0), inlierError(0), radius(0) {}
CircleModel(double radius) : inlier(0), inlierError(0), radius(radius) {}<--- Class 'CircleModel' has a constructor with 1 argument that is not explicit. [+]Class 'CircleModel' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
CircleModel(const Vector2d& circle_mean, double radius)
: inlier(0), inlierError(0), radius(radius), circle_mean(circle_mean)
{}
inline bool estimateCircle(const Edgel& a, const Edgel& b);
inline double angle_diff(const Edgel& edgel) const;
inline bool isInlier(const Edgel& edgel, double& distError,
double maxAngleError, double outlierThresholdDist) const;
bool betterThan(const CircleModel& other) const;
bool validate(const std::vector<Edgel>& edgels,
const std::vector<size_t>& inlier_idx, double threshold) const;
Vector2d refine(const std::vector<Edgel>& edgels,
const std::vector<size_t>& inlier_idx) const;
};
class RansacCircle {
public:
int iterations;
double outlierThresholdAngle;
double outlierThresholdDist;
double radius;
public:
RansacCircle(int iterations,
double outlierThresholdAngle, double outlierThresholdDist,
double radius);
void setParameters(int iterations,
double outlierThresholdAngle, double outlierThresholdDist,
double radius);
bool find_best_model(CircleModel& best_model,
const std::vector<Edgel>& edgels,
const std::vector<size_t>& edgel_idx) const;
void get_inliers(const CircleModel& model, const std::vector<Edgel>& edgels,
const std::vector<size_t>& edgel_idx,
std::vector<size_t>& inlier_idx,
std::vector<size_t>& outlier_idx) const;
};
}// end namespace
#endif // RANSAC_TOOLS_H
|