/// <summary>
/// Deals with a singe hypothesis
/// </summary>
/// <param name="h">Hypothesis</param>
/// <param name="max_distance">Maximum distance threshold to qualify sample as inlier</param>
/// <param name="constraints">Additional constraints</param>
private void BuildHypothesis(Ransac <T> .Hypothesis h, double max_distance, IRansacModelConstraint constraints)
{
// Initial fit
T model = h.Model;
if (!model.Build(this.ChooseRandom(model.RequiredSamples)))
{
return;
}
if (constraints != null && !constraints.Test(model))
{
return;
}
// Model parameters estimated, determine consensus set
this.DetermineConsensusSet(h, max_distance);
// Refit model using regression method and consensus set
if (h.ConsensusIds.Count >= model.RequiredSamples)
{
model.Fit(h.ConsensusSet);
h.ConsensusIds.Clear();
this.DetermineConsensusSet(h, max_distance);
}
}
/// <summary>
/// Run Ransac
/// </summary>
/// <param name="max_iter">Maximum number of iterations to generate hypothesis</param>
/// <param name="max_distance">Maximum distance threshold to qualify sample as inlier</param>
public Hypothesis Run(int max_iter, double max_distance, int min_consensus_size, IRansacModelConstraint constraints)
{
Hypothesis final = null;
int i = 0;
while (i < max_iter && final == null)
{
Hypothesis h = new Ransac <T> .Hypothesis(_samples);
this.BuildHypothesis(h, max_distance, constraints);
if (h.ConsensusIds.Count >= min_consensus_size)
{
final = h;
}
++i;
}
return(final);
}
