RANSAC.c File Reference

#include "RANSAC.h"
#include "math/pprz_matrix_decomp_float.h"
#include "math/pprz_algebra_float.h"
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include "stdio.h"

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Functions
void	RANSAC_linear_model (int n_samples, int n_iterations, float error_threshold, float *targets, int D, float(*samples)[D], uint16_t count, float *params, float *fit_error)
	Perform RANSAC to fit a linear model. More...
float	predict_value (float *sample, float *weights, int D, bool use_bias)
	Predict the value of a sample with linear weights. More...
void	get_indices_without_replacement (int *indices_subset, int n_samples, int count)
	Get indices without replacement. More...

Function Documentation

get_indices_without_replacement()

void get_indices_without_replacement	(	int *	indices_subset,
		int	n_samples,
		int	count
	)

Get indices without replacement.

Parameters

[out]	indices_subset	This will be filled with the sampled indices
[in]	n_samples	The number of samples / indices.
[in]	count	The function will sample n_sample numbers from the range 1, 2, 3,..., count

Definition at line 160 of file RANSAC.c.

References n_samples.

Referenced by RANSAC_linear_model().

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predict_value()

float predict_value	(	float *	sample,
		float *	weights,
		int	D,
		bool	use_bias
	)

Predict the value of a sample with linear weights.

Parameters

[in]	sample	The sample vector of size D
[in]	weights	The weight vector of size D+1
[in]	D	The dimension of the sample.

Returns

The predicted value

Definition at line 136 of file RANSAC.c.

References D.

Referenced by RANSAC_linear_model().

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RANSAC_linear_model()

void RANSAC_linear_model	(	int	n_samples,
		int	n_iterations,
		float	error_threshold,
		float *	targets,
		int	D,
		float(*)	samples[D],
		uint16_t	count,
		float *	params,
		float *	fit_error
	)

Perform RANSAC to fit a linear model.

Parameters

[in]	n_samples	The number of samples to use for a single fit
[in]	n_iterations	The number of times a linear fit is performed
[in]	error_threshold	The threshold used to cap errors in the RANSAC process
[in]	targets	The target values
[in]	samples	The samples / feature vectors
[in]	D	The dimensionality of the samples
[in]	count	The number of samples
[out]	parameters*	Parameters of the linear fit, of size D + 1 (accounting for a constant 1 being added to the samples to represent a potential bias)
[out]	fit_error*	Total error of the fit

Definition at line 57 of file RANSAC.c.

References D, fit_linear_model(), fit_linear_model_prior(), get_indices_without_replacement(), n_samples, and predict_value().

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