62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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/* $Id: db_robust.h,v 1.4 2011/06/17 14:03:31 mbansal Exp $ */
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#ifndef DB_ROBUST
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#define DB_ROBUST
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/*****************************************************************
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* Lean and mean begins here *
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*****************************************************************/
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/*!
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* \defgroup LMRobust (LM) Robust Estimation
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*/
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/*!
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\struct db_Statistics
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\ingroup LMRobust
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\brief (LnM) Sampling problem statistics
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\date Mon Sep 10 10:28:08 EDT 2007
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\par Copyright: 2007 Sarnoff Corporation. All Rights Reserved
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*/
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struct db_stat_struct
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{
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int nr_points;
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int nr_inliers;
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double inlier_fraction;
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double cost;
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double one_over_scale2;
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double lambda1;
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double lambda2;
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double lambda3;
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int nr_parameters;
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int model_dimension;
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double gric;
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double inlier_evidence;
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double posestd[6];
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double rotationvecCov[9];
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double translationvecCov[9];
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int posecov_inliercount;
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int posecovready;
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double median_reprojection_error;
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};
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typedef db_stat_struct db_Statistics;
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#endif /* DB_ROBUST */
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