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<div class="textblock"><code>#include "<a class="el" href="RANSAC_8h_source.html">RANSAC.h</a>"</code><br />
<code>#include "<a class="el" href="pprz__matrix__decomp__float_8h_source.html">math/pprz_matrix_decomp_float.h</a>"</code><br />
<code>#include "<a class="el" href="pprz__algebra__float_8h_source.html">math/pprz_algebra_float.h</a>"</code><br />
<code>#include <math.h></code><br />
<code>#include <string.h></code><br />
<code>#include <stdlib.h></code><br />
<code>#include "stdio.h"</code><br />
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<p><a href="RANSAC_8c_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ac3c27768c4b278317c7ce1f29d5b0b2d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="RANSAC_8c.html#ac3c27768c4b278317c7ce1f29d5b0b2d">RANSAC_linear_model</a> (int <a class="el" href="detect__gate_8h.html#a0aa1d80a7fddb8ff76eb4347b72d2b28">n_samples</a>, int n_iterations, float error_threshold, float *targets, int <a class="el" href="trilateration_8c.html#aa6702f5ca985a5b97e1534be9d374bba">D</a>, float(*samples)[<a class="el" href="trilateration_8c.html#aa6702f5ca985a5b97e1534be9d374bba">D</a>], <a class="el" href="vl53l1__types_8h.html#a273cf69d639a59973b6019625df33e30">uint16_t</a> count, float *params, float *fit_error)</td></tr>
<tr class="memdesc:ac3c27768c4b278317c7ce1f29d5b0b2d"><td class="mdescLeft"> </td><td class="mdescRight">Perform RANSAC to fit a linear model. <a href="RANSAC_8c.html#ac3c27768c4b278317c7ce1f29d5b0b2d">More...</a><br /></td></tr>
<tr class="separator:ac3c27768c4b278317c7ce1f29d5b0b2d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1c014ecbd1d94149c27837aa15919887"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="RANSAC_8c.html#a1c014ecbd1d94149c27837aa15919887">predict_value</a> (float *sample, float *weights, int <a class="el" href="trilateration_8c.html#aa6702f5ca985a5b97e1534be9d374bba">D</a>, bool use_bias)</td></tr>
<tr class="memdesc:a1c014ecbd1d94149c27837aa15919887"><td class="mdescLeft"> </td><td class="mdescRight">Predict the value of a sample with linear weights. <a href="RANSAC_8c.html#a1c014ecbd1d94149c27837aa15919887">More...</a><br /></td></tr>
<tr class="separator:a1c014ecbd1d94149c27837aa15919887"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad28fb4ffe594b7b478324d2fa524b685"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="RANSAC_8c.html#ad28fb4ffe594b7b478324d2fa524b685">get_indices_without_replacement</a> (int *indices_subset, int <a class="el" href="detect__gate_8h.html#a0aa1d80a7fddb8ff76eb4347b72d2b28">n_samples</a>, int count)</td></tr>
<tr class="memdesc:ad28fb4ffe594b7b478324d2fa524b685"><td class="mdescLeft"> </td><td class="mdescRight">Get indices without replacement. <a href="RANSAC_8c.html#ad28fb4ffe594b7b478324d2fa524b685">More...</a><br /></td></tr>
<tr class="separator:ad28fb4ffe594b7b478324d2fa524b685"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<h2 class="groupheader">Function Documentation</h2>
<a id="ad28fb4ffe594b7b478324d2fa524b685"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad28fb4ffe594b7b478324d2fa524b685">◆ </a></span>get_indices_without_replacement()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void get_indices_without_replacement </td>
<td>(</td>
<td class="paramtype">int * </td>
<td class="paramname"><em>indices_subset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n_samples</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Get indices without replacement. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">indices_subset</td><td>This will be filled with the sampled indices </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">n_samples</td><td>The number of samples / indices. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>The function will sample n_sample numbers from the range 1, 2, 3,..., count </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="RANSAC_8c_source.html#l00160">160</a> of file <a class="el" href="RANSAC_8c_source.html">RANSAC.c</a>.</p>
<p class="reference">References <a class="el" href="detect__gate_8c_source.html#l00085">n_samples</a>.</p>
<p class="reference">Referenced by <a class="el" href="RANSAC_8c_source.html#l00057">RANSAC_linear_model()</a>.</p>
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<div class="center"><img src="RANSAC_8c_ad28fb4ffe594b7b478324d2fa524b685_icgraph.png" border="0" usemap="#RANSAC_8c_ad28fb4ffe594b7b478324d2fa524b685_icgraph" alt=""/></div>
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<a id="a1c014ecbd1d94149c27837aa15919887"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1c014ecbd1d94149c27837aa15919887">◆ </a></span>predict_value()</h2>
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<td class="memname">float predict_value </td>
<td>(</td>
<td class="paramtype">float * </td>
<td class="paramname"><em>sample</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>weights</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>D</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>use_bias</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Predict the value of a sample with linear weights. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">sample</td><td>The sample vector of size D </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">weights</td><td>The weight vector of size D+1 </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">D</td><td>The dimension of the sample. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The predicted value </dd></dl>
<p class="definition">Definition at line <a class="el" href="RANSAC_8c_source.html#l00136">136</a> of file <a class="el" href="RANSAC_8c_source.html">RANSAC.c</a>.</p>
<p class="reference">References <a class="el" href="trilateration_8c_source.html#l00035">D</a>.</p>
<p class="reference">Referenced by <a class="el" href="RANSAC_8c_source.html#l00057">RANSAC_linear_model()</a>.</p>
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<a id="ac3c27768c4b278317c7ce1f29d5b0b2d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac3c27768c4b278317c7ce1f29d5b0b2d">◆ </a></span>RANSAC_linear_model()</h2>
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<td class="memname">void RANSAC_linear_model </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>n_samples</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>n_iterations</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>error_threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>targets</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>D</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float(*) </td>
<td class="paramname"><em>samples</em>[D], </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="vl53l1__types_8h.html#a273cf69d639a59973b6019625df33e30">uint16_t</a> </td>
<td class="paramname"><em>count</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>params</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>fit_error</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Perform RANSAC to fit a linear model. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">n_samples</td><td>The number of samples to use for a single fit </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">n_iterations</td><td>The number of times a linear fit is performed </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">error_threshold</td><td>The threshold used to cap errors in the RANSAC process </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">targets</td><td>The target values </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">samples</td><td>The samples / feature vectors </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">D</td><td>The dimensionality of the samples </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>The number of samples </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">parameters*</td><td>Parameters of the linear fit, of size D + 1 (accounting for a constant 1 being added to the samples to represent a potential bias) </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">fit_error*</td><td>Total error of the fit </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="RANSAC_8c_source.html#l00057">57</a> of file <a class="el" href="RANSAC_8c_source.html">RANSAC.c</a>.</p>
<p class="reference">References <a class="el" href="trilateration_8c_source.html#l00035">D</a>, <a class="el" href="pprz__matrix__decomp__float_8c_source.html#l00529">fit_linear_model()</a>, <a class="el" href="pprz__matrix__decomp__float_8c_source.html#l00617">fit_linear_model_prior()</a>, <a class="el" href="RANSAC_8c_source.html#l00160">get_indices_without_replacement()</a>, <a class="el" href="detect__gate_8c_source.html#l00085">n_samples</a>, and <a class="el" href="RANSAC_8c_source.html#l00136">predict_value()</a>.</p>
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