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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#include "optim/support_measurement.h"
namespace colmap {
InlierSupportMeasurer::Support InlierSupportMeasurer::Evaluate(
const std::vector<double>& residuals, const double max_residual) {
Support support;
support.num_inliers = 0;
support.residual_sum = 0;
for (const auto residual : residuals) {
if (residual <= max_residual) {
support.num_inliers += 1;
support.residual_sum += residual;
}
}
return support;
}
bool InlierSupportMeasurer::Compare(const Support& support1,
const Support& support2) {
if (support1.num_inliers > support2.num_inliers) {
return true;
} else {
return support1.num_inliers == support2.num_inliers &&
support1.residual_sum < support2.residual_sum;
}
}
MEstimatorSupportMeasurer::Support MEstimatorSupportMeasurer::Evaluate(
const std::vector<double>& residuals, const double max_residual) {
Support support;
support.num_inliers = 0;
support.score = 0;
for (const auto residual : residuals) {
if (residual <= max_residual) {
support.num_inliers += 1;
support.score += residual;
} else {
support.score += max_residual;
}
}
return support;
}
bool MEstimatorSupportMeasurer::Compare(const Support& support1,
const Support& support2) {
return support1.score < support2.score;
}
} // namespace colmap
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