00001 #ifndef HMatrix2DComputeMLESAC_h_ 00002 #define HMatrix2DComputeMLESAC_h_ 00003 //: 00004 // \file 00005 // \brief Robust HMatrix computation 00006 // 00007 // HMatrix2DComputeMLESAC implements 00008 // Phil Torr's MLESAC (Maximum Likelihood Estimation) of the projective matrix. 00009 // (or homography) 00010 // 00011 // Points are preconditioned as described in [Hartley, ``In defense of 00012 // the 8-point algorithm'', ICCV95]. 00013 // The conditioning and truncation are optional and may be 00014 // omitted. The MLESAC class is also responsible for maintaining the inliers 00015 // passed in the PairMatchSetCorner class. 00016 // 00017 // \author 00018 // David N. McKinnon, UQ I.R.I.S., 23.01.2001 00019 // 00020 // \verbatim 00021 // Modifications 00022 // 22 Oct 2002 - Peter Vanroose - added vgl_homg_point_2d interface 00023 // \endverbatim 00024 // 00025 //----------------------------------------------------------------------------- 00026 00027 #include <vgl/vgl_fwd.h> 00028 #include <mvl/HMatrix2DComputeRobust.h> 00029 #include <mvl/HMatrix2DCompute4Point.h> 00030 #include <mvl/HMatrix2D.h> 00031 #include <mvl/AffineMetric.h> 00032 #include <vcl_vector.h> 00033 00034 class HMatrix2DComputeMLESAC : public HMatrix2DComputeRobust 00035 { 00036 public: 00037 //: Initialize HMatrix2DComputeRobust object. 00038 HMatrix2DComputeMLESAC(double std); 00039 virtual ~HMatrix2DComputeMLESAC(); 00040 00041 virtual double calculate_term(vcl_vector<double>& residuals, 00042 vcl_vector<bool>& inlier_list, 00043 int& count); 00044 virtual double calculate_residual(HomgPoint2D& one, 00045 HomgPoint2D& two, 00046 HMatrix2D* F); 00047 virtual double calculate_residual(vgl_homg_point_2d<double>& one, 00048 vgl_homg_point_2d<double>& two, 00049 HMatrix2D* F); 00050 }; 00051 00052 #endif // HMatrix2DComputeMLESAC_h_
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