| // Copyright (c) 2022, ETH Zurich and UNC Chapel Hill. | |
| // 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 | |
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| // 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) | |
| 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 | |