00001 #ifndef FMatrixComputeRANSAC_h_ 00002 #define FMatrixComputeRANSAC_h_ 00003 //: 00004 // \file 00005 // \brief Robust FMatrix computation 00006 // 00007 // FMatrixComputeRANSAC implements 00008 // Phil Torr's RANSAC (Robust Sampling Consensus) of the fundamental matrix. 00009 // 00010 // The resulting F matrix is rank-2 truncated. The 00011 // conditioning and truncation are optional and may be 00012 // omitted. The RANSAC class is also responsible for maintaining the inliers 00013 // passed in the PairMatchSetCorner class. 00014 // 00015 // \author 00016 // David N. McKinnon, UQ I.R.I.S., 17.05.2001 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 00028 class FMatrixComputeRANSAC : public FMatrixComputeRobust 00029 { 00030 public: 00031 //: Initialize FMatrixComputeRobust object. 00032 // If rank2_truncate = false, the resulting solution is not forced to rank 2 00033 // using the vnl_svd<double>. 00034 FMatrixComputeRANSAC(bool rank2_truncate, double std); 00035 virtual ~FMatrixComputeRANSAC(); 00036 00037 virtual double calculate_term(vcl_vector<double>& residuals, 00038 vcl_vector<bool>& inlier_list, 00039 int& count); 00040 virtual double calculate_residual(HomgPoint2D& one, 00041 HomgPoint2D& two, 00042 FMatrix* F); 00043 virtual double calculate_residual(vgl_homg_point_2d<double>& one, 00044 vgl_homg_point_2d<double>& two, 00045 FMatrix* F); 00046 }; 00047 00048 #endif // FMatrixComputeRANSAC_h_
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