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