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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
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#ifndef COLMAP_SRC_OPTIM_SUPPORT_MEASUREMENT_H_
#define COLMAP_SRC_OPTIM_SUPPORT_MEASUREMENT_H_
#include <cstddef>
#include <limits>
#include <vector>
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
#endif // COLMAP_SRC_OPTIM_SUPPORT_MEASUREMENT_H_
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