| // 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 | |
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| // | |
| // * 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 | |
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| // | |
| // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| namespace colmap { | |
| // Measure the support of a model by counting the number of inliers and | |
| // summing all inlier residuals. The support is better if it has more inliers | |
| // and a smaller residual sum. | |
| struct InlierSupportMeasurer { | |
| struct Support { | |
| // The number of inliers. | |
| size_t num_inliers = 0; | |
| // The sum of all inlier residuals. | |
| double residual_sum = std::numeric_limits<double>::max(); | |
| }; | |
| // Compute the support of the residuals. | |
| Support Evaluate(const std::vector<double>& residuals, | |
| const double max_residual); | |
| // Compare the two supports and return the better support. | |
| bool Compare(const Support& support1, const Support& support2); | |
| }; | |
| // Measure the support of a model by its fitness to the data as used in MSAC. | |
| // A support is better if it has a smaller MSAC score. | |
| struct MEstimatorSupportMeasurer { | |
| struct Support { | |
| // The number of inliers. | |
| size_t num_inliers = 0; | |
| // The MSAC score, defined as the truncated sum of residuals. | |
| double score = std::numeric_limits<double>::max(); | |
| }; | |
| // Compute the support of the residuals. | |
| Support Evaluate(const std::vector<double>& residuals, | |
| const double max_residual); | |
| // Compare the two supports and return the better support. | |
| bool Compare(const Support& support1, const Support& support2); | |
| }; | |
| } // namespace colmap | |