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#ifndef POSELIB_ROBUST_SAMPLING_H_
#define POSELIB_ROBUST_SAMPLING_H_
// Copyright (c) 2021, Viktor Larsson
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the copyright holder nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "PoseLib/types.h"
#include <cstdint>
#include <vector>
namespace poselib {
typedef uint64_t RNG_t;
int random_int(RNG_t &state);
// Draws a random sample (NOTE: This assumes sample_sz >= N but does not check it!)
void draw_sample(size_t sample_sz, size_t N, std::vector<size_t> *sample, RNG_t &rng);
// Sampling for multi-camera systems
void draw_sample(size_t sample_sz, const std::vector<size_t> &N, std::vector<std::pair<size_t, size_t>> *sample,
RNG_t &rng);
class RandomSampler {
public:
RandomSampler(size_t N, size_t K, RNG_t seed = 0, bool use_prosac_sampling = false, int prosac_iters = 100000)
: num_data(N), sample_sz(K), state(seed), use_prosac(use_prosac_sampling), max_prosac_iterations(prosac_iters) {
if (use_prosac_sampling) {
initialize_prosac();
}
}
void generate_sample(std::vector<size_t> *sample);
private:
void initialize_prosac();
public:
size_t num_data;
size_t sample_sz;
RNG_t state;
// state for PROSAC sampling
bool use_prosac;
size_t max_prosac_iterations; // number of iterations before reverting to standard RANSAC
size_t sample_k;
size_t subset_sz;
// pre-computed growth function used in PROSAC sampling
std::vector<size_t> growth;
};
} // namespace poselib
#endif
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