00001 #ifndef FMatrixComputeMLESAC_h_ 00002 #define FMatrixComputeMLESAC_h_ 00003 //: 00004 // \file 00005 // \brief Robust FMatrix computation 00006 // 00007 // FMatrixComputeMLESAC implements 00008 // Phil Torr's MLESAC (Maximum Likelihood Estimation) of the fundamental matrix. 00009 // 00010 // Points are preconditioned as described in [Hartley, ``In defense of 00011 // the 8-point algorithm'', ICCV95], and the resulting F matrix is rank-2 00012 // truncated. The conditioning and truncation are optional and may be 00013 // omitted. 00014 // 00015 // \author 00016 // David N. McKinnon, UQ I.R.I.S., 02.12.2000 00017 // 00018 // \verbatim 00019 // Modifications 00020 // 22 Oct 2002 - Peter Vanroose - added vgl_homg_point_2d interface 00021 // \endverbatim 00022 // 00023 //----------------------------------------------------------------------------- 00024 00025 #include <vgl/vgl_fwd.h> 00026 #include <mvl/FMatrixComputeRobust.h> 00027 #include <mvl/FManifoldProject.h> 00028 #include <vcl_vector.h> 00029 00030 class FMatrixComputeMLESAC : public FMatrixComputeRobust 00031 { 00032 public: 00033 //: Initialize FMatrixComputeRobust object. 00034 // If rank2_truncate = false, the resulting solution is not forced to rank 2 00035 // using the vnl_svd<double>. 00036 FMatrixComputeMLESAC(bool rank2_truncate, double std); 00037 virtual ~FMatrixComputeMLESAC(); 00038 00039 virtual double calculate_term(vcl_vector<double>& residuals, vcl_vector<bool>& inlier_list, int& count); 00040 virtual double calculate_residual(HomgPoint2D& one, HomgPoint2D& two, FMatrix* F); 00041 virtual double calculate_residual(vgl_homg_point_2d<double>& one, 00042 vgl_homg_point_2d<double>& two, 00043 FMatrix* F); 00044 }; 00045 00046 #endif // FMatrixComputeMLESAC_h_
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