RANSAC Homography Iteration

Problem

Run one seeded RANSAC iteration for homography estimation.

Seed the random module and sample 4 distinct correspondence indices, fit a homography with the DLT, then count inliers whose reprojection error is at most threshold. Return [sorted_sample_indices, inlier_count]; if the sample is degenerate return a count of 0.

Test cases

case 1

in: [[[0,0],[1,0],[2,0],[0,1],[1,1],[2,1]],[[1,1],[2,1],[3,1],[9,9],[8,8],[3,2]],0.5,1]

expected: [[0,1,4,5],4]

case 2

in: [[[0,0],[1,0],[2,0],[0,1],[1,1],[2,1]],[[1,1],[2,1],[3,1],[9,9],[8,8],[3,2]],0.5,3]

expected: [[1,3,4,5],1]

case 3

in: [[[0,0],[1,0],[2,0],[0,1]],[[1,1],[2,1],[3,1],[1,2]],0.5,0]

expected: [[0,1,2,3],0]

Starter codePython

def ransac_iteration(src, dst, threshold, seed):
    # Your code here
    pass

3 test cases · run your code against them in the editor