| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
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| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Sequential Probability Ratio Test as proposed in | |
| // | |
| // "Randomized RANSAC with Sequential Probability Ratio Test", | |
| // Matas et al., 2005 | |
| class SPRT { | |
| public: | |
| struct Options { | |
| // Probability of rejecting a good model. | |
| double delta = 0.01; | |
| // A priori assumed minimum inlier ratio | |
| double epsilon = 0.1; | |
| // The ratio of the time it takes to estimate a model from a random sample | |
| // over the time it takes to decide whether one data sample is an | |
| // inlier or not. Matas et al. propose 200 for the 7-point algorithm. | |
| double eval_time_ratio = 200; | |
| // Number of models per random sample, that have to be verified. E.g. 1-3 | |
| // for the 7-point fundamental matrix algorithm, or 1-10 for the 5-point | |
| // essential matrix algorithm. | |
| int num_models_per_sample = 1; | |
| }; | |
| explicit SPRT(const Options& options); | |
| void Update(const Options& options); | |
| bool Evaluate(const std::vector<double>& residuals, const double max_residual, | |
| size_t* num_inliers, size_t* num_eval_samples); | |
| private: | |
| void UpdateDecisionThreshold(); | |
| Options options_; | |
| double delta_epsilon_; | |
| double delta_1_epsilon_1_; | |
| double decision_threshold_; | |
| }; | |
| } // namespace colmap | |