From 2c3a547100702afebd803798b9cd936bb80e06e6 Mon Sep 17 00:00:00 2001
From: Geoffrey Daniels <geoff@gpdaniels.com>
Date: Wed, 17 Jul 2024 21:11:01 +0100
Subject: [PATCH] Move allocation out of consensus.

---
 source/vision/consensus/consensus         | 31 ++++++++---------------
 source/vision/consensus/estimator         | 19 ++++++++------
 tests/vision/consensus/consensus.test.cpp |  9 ++++---
 3 files changed, 27 insertions(+), 32 deletions(-)

diff --git a/source/vision/consensus/consensus b/source/vision/consensus/consensus
index 44bbc85..c94af87 100644
--- a/source/vision/consensus/consensus
+++ b/source/vision/consensus/consensus
@@ -69,9 +69,9 @@ namespace gtl {
     public:
         ~consensus() = default;
         consensus(
-            sampler_type& sampler,
-            estimator_type& estimator,
-            evaluator_type& evaluator,
+            const sampler_type& sampler,
+            const estimator_type& estimator,
+            const evaluator_type& evaluator,
             const float inlier_ratio,
             const float probability_failure,
             const size_t iterations_minimum,
@@ -152,12 +152,17 @@ namespace gtl {
         }
 
     public:
-        bool estimate(const data_type* const __restrict data, size_t data_size, model_type& best_model) {
+        bool estimate(
+            const data_type* const __restrict data,
+            const size_t data_size,
+            float* const __restrict residuals,
+            size_t* const __restrict inliers,
+            size_t& inliers_size,
+            model_type& best_model
+        ) {
             best_model = {};
             bool solution_found = false;
             float best_cost = 0;
-            float* residuals = new float[data_size];
-            size_t* inliers = new size_t[data_size];
             this->consensus_sampler.prepare(data_size);
             for (size_t i = 0; i < this->criteria_iterations_maximum; ++i) {
                 size_t subset_indices[sample_size];
@@ -171,7 +176,6 @@ namespace gtl {
                 for (size_t j = 0; j < model_count; ++j) {
                     const model_type& model = models[j];
                     this->consensus_estimator.compute_residuals(data, data_size, model, residuals);
-                    size_t inliers_size = 0;
                     const float cost = this->consensus_evaluator.evaluate(residuals, data_size, inliers, inliers_size);
                     if ((cost < best_cost) || (solution_found == false)) {
                         solution_found = true;
@@ -186,24 +190,11 @@ namespace gtl {
                     }
                 }
             }
-            delete[] residuals;
-            delete[] inliers;
             if (!solution_found) {
                 return false;
             }
-            this->consensus_estimator.refine_model(data, data_size, best_model);
-            return true;
-        }
-
-        bool estimate(const data_type* const __restrict data, size_t data_size, model_type& best_model, size_t* const __restrict inliers, size_t& inliers_size) {
-            bool valid = this->estimate(data, data_size, best_model);
-            if (!valid) {
-                return false;
-            }
-            float* residuals = new float[data_size];
             this->consensus_estimator.compute_residuals(data, data_size, best_model, residuals);
             this->consensus_evaluator.evaluate(residuals, data_size, inliers, inliers_size);
-            delete[] residuals;
             return true;
         }
     };
diff --git a/source/vision/consensus/estimator b/source/vision/consensus/estimator
index 2655caa..2ad4c8e 100644
--- a/source/vision/consensus/estimator
+++ b/source/vision/consensus/estimator
@@ -47,15 +47,18 @@ namespace gtl {
         estimator& operator=(estimator&&) = default;
 
     public:
-        virtual size_t generate_models(const data_type* const __restrict data, size_t data_size, model_type* const __restrict models) = 0;
+        virtual size_t generate_models(
+            const data_type* const __restrict data,
+            size_t data_size,
+            model_type* const __restrict models
+        ) = 0;
 
-        virtual void compute_residuals(const data_type* const __restrict data, size_t data_size, const model_type& model, float* const __restrict residuals) = 0;
-
-        virtual void refine_model(const data_type* const __restrict data, size_t data_size, model_type& model) {
-            static_cast<void>(data);
-            static_cast<void>(data_size);
-            static_cast<void>(model);
-        }
+        virtual void compute_residuals(
+            const data_type* const __restrict data,
+            size_t data_size,
+            const model_type& model,
+            float* const __restrict residuals
+        ) = 0;
     };
 }
 
diff --git a/tests/vision/consensus/consensus.test.cpp b/tests/vision/consensus/consensus.test.cpp
index cb29e27..9b9716d 100644
--- a/tests/vision/consensus/consensus.test.cpp
+++ b/tests/vision/consensus/consensus.test.cpp
@@ -125,12 +125,13 @@ TEST(consensus, evaluate, line) {
         iterations_maximum
     );
 
-    line best;
+    float residuals[data_size];
     std::size_t inliers[data_size];
     std::size_t inliers_size = 0;
-    REQUIRE(consensus.estimate(data, data_size, best, inliers, inliers_size));
+    line best_model;
+    REQUIRE(consensus.estimate(data, data_size, residuals, inliers, inliers_size, best_model));
 
-    REQUIRE(testbench::is_value_approx(best.gradient, gradient, 0.05f));
-    REQUIRE(testbench::is_value_approx(best.intercept, intercept, 0.05f));
+    REQUIRE(testbench::is_value_approx(best_model.gradient, gradient, 0.05f));
+    REQUIRE(testbench::is_value_approx(best_model.intercept, intercept, 0.05f));
     REQUIRE(testbench::is_value_approx(inliers_size, data_size / 2, static_cast<std::size_t>(data_size * 0.01f)));
 }