progressive_sampler.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "optim/sampler.h"
 
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