RANSAC-like implementation for arbitrary 2D sets

Question

TL;DR : Is there a C++ implementation of RANSAC or other robust correspondence algorithms that is freely usable with arbitrary 2D point sets?

I know that many implem

Answer 1

I was looking for something like that and then I found this.

The code is in c++ at bottom part.

The function below was originaly extracted from this class.

cv::Mat ransacTest(const std::vector& matches, const std::vector& keypoints1,const std::vector& keypoints2, std::vector& outMatches) {

   // Convert keypoints into Point2f
   std::vector points1, points2;
   cv::Mat fundemental;

   for (std::vector::const_iterator it= matches.begin(); it!= matches.end(); ++it) {
       // Get the position of left keypoints
       float x= keypoints1[it->queryIdx].pt.x;
       float y= keypoints1[it->queryIdx].pt.y;
       points1.push_back(cv::Point2f(x,y));
       // Get the position of right keypoints
       x= keypoints2[it->trainIdx].pt.x;
       y= keypoints2[it->trainIdx].pt.y;
       points2.push_back(cv::Point2f(x,y));
   }

   // Compute F matrix using RANSAC
   std::vector inliers(points1.size(),0);

   if ( points1.size() > 0 && points2.size() > 0 ){

      cv::Mat fundemental= cv::findFundamentalMat(
            cv::Mat(points1),cv::Mat(points2), // matching points
            inliers,       // match status (inlier or outlier)
            CV_FM_RANSAC,  // RANSAC method
            3.0,           // distance to epipolar line
            0.99);         // confidence probability

      // extract the surviving (inliers) matches
      std::vector::const_iterator itIn= inliers.begin();
      std::vector::const_iterator itM= matches.begin();

      // for all matches
      for ( ;itIn!= inliers.end(); ++itIn, ++itM) {
         if (*itIn) { // it is a valid match
            outMatches.push_back(*itM);
         }
      }

      // The F matrix will be recomputed with all accepted matches
      // Convert keypoints into Point2f for final F computation

      points1.clear();
      points2.clear();

      for (std::vector::const_iterator it= outMatches.begin(); it!=outMatches.end(); ++it) {
        // Get the position of left keypoints
        float x= keypoints1[it->queryIdx].pt.x;
        float y= keypoints1[it->queryIdx].pt.y;
        points1.push_back(cv::Point2f(x,y));
        // Get the position of right keypoints
        x= keypoints2[it->trainIdx].pt.x;
        y= keypoints2[it->trainIdx].pt.y;
        points2.push_back(cv::Point2f(x,y));
     }

     // Compute 8-point F from all accepted matches
     if( points1.size() > 0 && points2.size() > 0){
        fundemental= cv::findFundamentalMat(
        cv::Mat(points1),cv::Mat(points2), // matches
        CV_FM_8POINT); // 8-point method
     }

   }

   return fundemental;

}