function?[results?options]?=?RANSAC（X?options）

%?[results?options]?=?RANSAC（X?options）
%
%?DESC:
%?estimate?the?vector?of?parameters?Theta?using?RANSAC?（see?source?[1]
%?[2]）
%
%?VERSION:
%?1.1.5
%
%?INPUT:
%
%?X?????????????????=?input?data.?The?data?id?provided?as?a?matrix?that?has
%?????????????????????dimesnsions?2dxN?where?d?is?the?data?dimensionality
%?????????????????????and?N?is?the?number?of?elements
%
%?options???????????=?structure?containing?the?following?fields:
%
%???sigma???????????????=?noise?std
%???P_inlier????????????=?Chi?squared?probability?threshold?for?inliers
%?????????????????????????（i.e.?the?probability?that?an?point?whose?squared
%??????????????????????????error?is?less?than?T_noise_squared?is?an?inlier）
%?????????????????????????（default?=?0.99）
%???T_noise_squared?????=?Error?threshold?（overrides?sigma）
%???epsilon?????????????=?False?Alarm?Rate?（i.e.?the?probability?we?never
%?????????????????????????pick?a?good?minimal?sample?set）?（default?=?1e-3）
%???Ps??????????????????=?sampling?probability?（?1?x?size（X?2）?）
%?????????????????????????（default:?uniform?i.e.?Ps?is?empty）
%???ind_tabu????????????=?logical?array?indicating?the?elements?that?should
%?????????????????????????not?be?considered?to?construct?the?MSS?（default
%?????????????????????????is?empty）
%???validateMSS_fun?????=?function?that?validates?a?MSS
%?????????????????????????Should?be?in?the?form?of:
%
%?????????????????????????flag?=?validateMSS_foo（X?s）
%
%???validateTheta_fun???=?function?that?validates?a?parameter?vector
%?????????????????????????Should?be?in?the?form?of:
%
%?????????????????????????flag?=?validateTheta_foo（X?Theta?s）
%
%???est_fun?????????????=?function?that?estimates?Theta.
%?????????????????????????Should?be?in?the?form?of:
%
%?????????????????????????[Theta?k]?=?estimate_foo（X?s）
%
%???man_fun?????????????=?function?that?returns?the?residual?error.
%?????????????????????????Should?be?in?the?form?of:
%
%?????????????????????????[E?T_noise_squared]?=?man_fun（Theta?X）
%
%???mode????????????????=?algorithm?flavour
%?????????????????????????‘RANSAC‘??->?Fischler?&?Bolles
%?????????????????????????‘MSAC‘????->?Torr?&?Zisserman
%
%
%???max_iters???????????=?maximum?number?of?iterations??（default?=?inf）
%???min_iters???????????=?minimum?number?of?iterations??（default?=?0）
%???max_no_updates??????=?maximum?number?of?iterations?with?no?updates
%?????????????????????????（default?=?inf）
%???fix_seed????????????=?true?to?fix?the?seed?of?the?random?number
%?????????????????????????generator?so?that?the?results?on?the?same?data
%?????????????????????????set?are?repeatable?（default?=?false）
%???reestimate??????????=?true?to?resestimate?the?parameter?vector?using
%?????????????????????????all?the?detected?inliers
%?????????????????????????（default?=?false）
%???verbose?????????????=?true?for?verbose?output
%?????????????????????????（default?=?true）
%???notify_iters????????=?if?verbose?output?is?on?then?print?some
%?????????????????????