Commit 4bacfcff authored by Debargha Mukherjee's avatar Debargha Mukherjee Committed by Gerrit Code Review

Merge "Fix ransac random generator seeding" into nextgenv2

parents 321556a5 efa65822
......@@ -92,16 +92,16 @@ static void project_points_double_homography(double *mat, double *points,
}
}
static int get_rand_indices(int npoints, int minpts, int *indices) {
static int get_rand_indices(int npoints, int minpts, int *indices,
unsigned int *seed) {
int i, j;
unsigned int seed = (unsigned int)npoints;
int ptr = rand_r(&seed) % npoints;
int ptr = rand_r(seed) % npoints;
if (minpts > npoints) return 0;
indices[0] = ptr;
ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
i = 1;
while (i < minpts) {
int index = rand_r(&seed) % npoints;
int index = rand_r(seed) % npoints;
while (index) {
ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
for (j = 0; j < i; ++j) {
......@@ -132,6 +132,7 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
int N = 10000, trial_count = 0;
int i;
int ret_val = 0;
unsigned int seed = (unsigned int)npoints;
int max_inliers = 0;
double best_variance = 0.0;
......@@ -139,7 +140,7 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
WarpedMotionParams wm;
double points1[2 * MAX_MINPTS];
double points2[2 * MAX_MINPTS];
int indices[MAX_MINPTS];
int indices[MAX_MINPTS] = { 0 };
double *best_inlier_set1;
double *best_inlier_set2;
......@@ -153,10 +154,6 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
double *cnp1, *cnp2;
double T1[9], T2[9];
// srand((unsigned)time(NULL)) ;
// better to make this deterministic for a given sequence for ease of testing
srand(npoints);
*number_of_inliers = 0;
if (npoints < minpts * MINPTS_MULTIPLIER) {
printf("Cannot find motion with %d matches\n", npoints);
......@@ -203,7 +200,7 @@ static int ransac(double *matched_points, int npoints, int *number_of_inliers,
int num_degenerate_iter = 0;
while (degenerate) {
num_degenerate_iter++;
if (!get_rand_indices(npoints, minpts, indices)) {
if (!get_rand_indices(npoints, minpts, indices, &seed)) {
ret_val = 1;
goto finish_ransac;
}
......
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