void
opengv::sac::SampleConsensusProblem<M>::getSamples(
int &iterations, std::vector<int> &samples)
{
// We're assuming that indices_ have already been set in the constructor
if (indices_->size() < (size_t)getSampleSize())
{
fprintf( stderr,
"[sm::SampleConsensusModel::getSamples] Can not select %zu unique points out of %zu!\n",
(size_t) getSampleSize(), indices_->size() );
// one of these will make it stop :)
samples.clear();
iterations = std::numeric_limits<int>::max();
return;
}
// Get a second point which is different than the first
samples.resize( getSampleSize() );
for( int iter = 0; iter < max_sample_checks_; ++iter )
{
drawIndexSample(samples);
// If it's a good sample, stop here
if(isSampleGood(samples))
return;
}
fprintf( stdout,
"[sm::SampleConsensusModel::getSamples] WARNING: Could not select %d sample points in %d iterations!\n",
getSampleSize(), max_sample_checks_ );
samples.clear();
}
void RansacProblem<M>::getSamples(int &iterations, std::vector<int> &samples)
{
// We're assuming that indices_ have already been set in the constructor
if (indices_->size() < (size_t)getSampleSize())
{
SM_ERROR ("[sm::SampleConsensusModel::getSamples] Can not select %zu unique points out of %zu!\n",
samples.size (), indices_->size ());
// one of these will make it stop :)
samples.clear();
iterations = INT_MAX - 1;
return;
}
// Get a second point which is different than the first
samples.resize( getSampleSize() );
for (int iter = 0; iter < max_sample_checks_; ++iter)
{
drawIndexSample (samples);
// If it's a good sample, stop here
if (isSampleGood (samples))
return;
}
SM_DEBUG ("[sm::SampleConsensusModel::getSamples] WARNING: Could not select %d sample points in %d iterations!\n", getSampleSize (), max_sample_checks_);
samples.clear ();
}
void
opengv::sac::MultiSampleConsensusProblem<M>::getSamples(
int &iterations, std::vector< std::vector<int> > &samples )
{
std::vector<int> sampleSizes = getSampleSizes();
samples.resize( sampleSizes.size() );
for( size_t subIter = 0; subIter < samples.size(); subIter++ )
{
// We're assuming that indices_ have already been set in the constructor
if( (*indices_)[subIter].size() < (size_t) sampleSizes[subIter] )
{
fprintf( stderr,
"[sm::SampleConsensusModel::getSamples] Can not select %d unique points out of %zu!\n",
sampleSizes[subIter], (*indices_)[subIter].size() );
// one of these will make it stop :)
samples.clear();
iterations = INT_MAX - 1;
return;
}
// Get a second point which is different than the first
samples[subIter].resize( sampleSizes[subIter] );
}
for( int iter = 0; iter < max_sample_checks_; ++iter )
{
drawIndexSample(samples);
// If it's a good sample, stop here
if (isSampleGood (samples))
return;
}
size_t multiSampleSize = 0;
for( size_t multiIter = 0; multiIter < samples.size(); multiIter++ )
multiSampleSize += samples[multiIter].size();
fprintf( stdout,
"[sm::SampleConsensusModel::getSamples] WARNING: Could not select %zu sample points in %d iterations!\n",
multiSampleSize, max_sample_checks_ );
samples.clear();
}
