| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Random sampler for PROSAC (Progressive Sample Consensus), as described in: | |
| // | |
| // "Matching with PROSAC - Progressive Sample Consensus". | |
| // Ondrej Chum and Matas, CVPR 2005. | |
| // | |
| // Note that a separate sampler should be instantiated per thread and that the | |
| // data to be sampled from is assumed to be sorted according to the quality | |
| // function in descending order, i.e., higher quality data is closer to the | |
| // front of the list. | |
| class ProgressiveSampler : public Sampler { | |
| public: | |
| explicit ProgressiveSampler(const size_t num_samples); | |
| void Initialize(const size_t total_num_samples) override; | |
| size_t MaxNumSamples() override; | |
| std::vector<size_t> Sample() override; | |
| private: | |
| const size_t num_samples_; | |
| size_t total_num_samples_; | |
| // The number of generated samples, i.e. the number of calls to `Sample`. | |
| size_t t_; | |
| size_t n_; | |
| // Variables defined in equation 3. | |
| double T_n_; | |
| double T_n_p_; | |
| }; | |
| } // namespace colmap | |