随机样本一致抽样

<span style="font-size:18px;">function testRansac()

% real model coef
k = .5;
b = 10;
ptNum = 200;
outlrRatio = .4;  %非模型店的个数比率 
inlrStd = 5;    %距离模型点的距离
pts = genRansacTestPoints(ptNum,outlrRatio,inlrStd,[k b]);%%产生随机点  线性点和噪声点
figure,plot(pts(1,:),pts(2,:),'.'),hold on
%%
X = -ptNum/2:ptNum/2;
plot(X,k*X+b,'k')
 err0 = sqrError(k,b,pts(:,1:ptNum*(1-outlrRatio))) %计算总的误差
%%
% RANSAC  用随机一致抽样的方法
iterNum = 300;
thDist = 2;  %阈值距离
thInlrRatio = .1;  %模型点的比率
[t,r] = ransac(pts,iterNum,thDist,thInlrRatio);
k1 = -tan(t);
b1 = r/cos(t);
plot(X,k1*X+b1,'r')
err1 = sqrError(k1,b1,pts(:,1:ptNum*(1-outlrRatio)))

% least square fitting
coef2 = polyfit(pts(1,:),pts(2,:),1);
k2 = coef2(1);
b2 = coef2(2);
plot(X,k2*X+b2,'g')
err2 = sqrError(k2,b2,pts(:,1:ptNum*(1-outlrRatio)))

end

function err = sqrError(k,b,pts)
%	Calculate the square error of the fit

theta = atan(-k);
n = [cos(theta),-sin(theta)];
pt1 = [0;b];
err = sqrt(sum((n*(pts-repmat(pt1,1,size(pts,2)))).^2));

end</span>

<span style="font-size:18px;">function [ pts ] = genRansacTestPoints( ptNum,outlrRatio,inlrStd,inlrCoef )
%GENRANSACTESTPOINTS Generate the points used by RANSAC function
%   PTS = GENRANSACTESTPOINTS(PTNUM,OUTLRRATIO,INLRSTD,INLRCOEF) PTS is
%   2*PTNUM, including PTNUM points, among which ROUND(OUTLRRATIO*PTNUM)
%   are outliers, others are inliers. 
%		The inliers are around the line: y = INLRCOEF(1)*x + INLRCOEF(2),
%   INLRSTD is the standard deviation of, the dist between inliers and the
%	line. The outliers 

outlrNum = round(outlrRatio*ptNum);%产生的非模型点的个数
inlrNum = ptNum-outlrNum;  %模型点的个数

k = inlrCoef(1);
b = inlrCoef(2);  %模型直线的斜率和截距
X = (rand(1,inlrNum)-.5)*ptNum; % X is in [-ptNum/2,ptNum/2]  x的取值范围  在总点的范围内
Y = k*X+b;  %直线上模型点的y值

% add noise for inliers
dist = randn(1,inlrNum)*inlrStd;  %产生在点总数的正态随机分布的数 
theta = atan(k);  %直线的斜率
X = X+dist*(-sin(theta));  %接近模型的模型点的产生
Y = Y+dist*cos(theta);  %x和y方向上的增量
inlrs = [X;Y];

outlrs = (rand(2,outlrNum)-.5)*ptNum;%费模型点的产生
% outlrs = (rand(2,outlrNum)-[ones(1,outlrNum)*.5;ones(1,outlrNum)*.1])*ptNum;
pts = [inlrs,outlrs];

end
</span>

随机一致抽样的过程

<span style="font-size:18px;">function [ theta,rho ] = ransac( pts,iterNum,thDist,thInlrRatio )
%RANSAC Use RANdom SAmple Consensus to fit a line
%	RESCOEF = RANSAC(PTS,ITERNUM,THDIST,THINLRRATIO) PTS is 2*n matrix including 
%	n points, ITERNUM is the number of iteration, THDIST is the inlier 
%	distance threshold and ROUND(THINLRRATIO*SIZE(PTS,2)) is the inlier number threshold. The final 
%	fitted line is RHO = sin(THETA)*x+cos(THETA)*y.
%	Yan Ke @ THUEE, xjed09@gmail.com

sampleNum = 2;%采样个数
ptNum = size(pts,2);%点的个数
thInlr = round(thInlrRatio*ptNum); %要求的模型点的个数
inlrNum = zeros(1,iterNum);%存储每次迭代时模型点的个数
theta1 = zeros(1,iterNum);%每次迭代时计算出的直线角度
rho1 = zeros(1,iterNum);  %每次迭代计算出的直线模型的截距

for p = 1:iterNum      %进入迭代
	% 1. fit using 2 random points
	sampleIdx = randIndex(ptNum,sampleNum);%随机选择两个点
	ptSample = pts(:,sampleIdx);
	d = ptSample(:,2)-ptSample(:,1); %两个点的向量
	d = d/norm(d); % direction vector of the line 直线的单位向量
	
	% 2. count the inliers, if more than thInlr, refit; else iterate
	n = [-d(2),d(1)]; % unit normal vector of the line
	dist1 = n*(pts-repmat(ptSample(:,1),1,ptNum));%点到直线的距离   单位向量与计算点的向量内积
	inlier1 = find(abs(dist1) < thDist);%找到不符合模型的点的距离的地址
	inlrNum(p) = length(inlier1);%查看符合模型点的个数
	if length(inlier1) < thInlr, continue; end
	ev = princomp(pts(:,inlier1)');      %PCA变换
	d1 = ev(:,1);  %返回的系数
	theta1(p) = -atan2(d1(2),d1(1));  % save the coefs
	rho1(p) = [-d1(2),d1(1)]*mean(pts(:,inlier1),2); %
end

% 3. choose the coef with the most inliers
[~,idx] = max(inlrNum);%找到模型点最多的那个点集的参数
theta = theta1(idx);
rho = rho1(idx);

end</span>

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