00001 #ifndef ComputeGRIC_h 00002 #define ComputeGRIC_h 00003 00004 #include <mvl/PairMatchSetCorner.h> 00005 #include <mvl/FMatrix.h> 00006 #include <mvl/HMatrix2D.h> 00007 #include <vcl_vector.h> 00008 #include <vcl_memory.h> 00009 00010 class ComputeGRIC 00011 { 00012 public: 00013 ComputeGRIC(double std); 00014 ~ComputeGRIC(); 00015 00016 // Computations 00017 // Compute the GRIC score and indicate which model 00018 // is the best match for the set of point matches 00019 // Returning a 0 for a HMatrix2D and a 1 for FMatrix 00020 bool compute(PairMatchSetCorner* matches); 00021 00022 // Data Access 00023 FMatrix* get_F() const { return F_.get(); } 00024 HMatrix2D* get_H() const { return H_.get(); } 00025 00026 // Is Degenerate ? 00027 bool degenerate() const { return degenerate_; } 00028 00029 // Return inliers after the computation 00030 vcl_vector<bool>& get_inliers() { return degenerate_ ? inliersH_ : inliersF_; } 00031 00032 // Get the 4 and 7 points bases for the resulting relations 00033 vcl_vector<int>& get_basisF() { return basisF_; } 00034 vcl_vector<int>& get_basisH() { return basisH_; } 00035 00036 protected: 00037 double std_; 00038 vcl_auto_ptr<FMatrix> F_; 00039 vcl_auto_ptr<HMatrix2D> H_; 00040 vcl_vector<double> residualsF_; 00041 vcl_vector<double> residualsH_; 00042 vcl_vector<bool> inliersF_; 00043 vcl_vector<bool> inliersH_; 00044 vcl_vector<int> basisF_; 00045 vcl_vector<int> basisH_; 00046 bool degenerate_; 00047 }; 00048 00049 #endif // ComputeGRIC_h
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