32 lines
593 B
C
32 lines
593 B
C
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#pragma once
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#include <cmath>
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#include <cgv/math/functions.h>
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#include <vector>
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namespace cgv{
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namespace math{
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///returns the number of needed ransac iterations
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///n_min... minimal number of needed samples
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///p_out... percentage of inliers
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///p_surety... probability to sample at least one inlier
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template <typename T>
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unsigned num_ransac_iterations(unsigned n_min, const T p_out, const T p_surety = 0.99)
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{
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unsigned int iter = (unsigned) ::ceil(log(1.0-p_surety)/log(1.0-pow(1.0-p_out,(T)n_min)));
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if (iter == 0)
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iter = 1;
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return iter;
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}
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}
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}
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