00001 #ifndef rgrl_convergence_on_weighted_error_h_ 00002 #define rgrl_convergence_on_weighted_error_h_ 00003 //: 00004 // \file 00005 #include "rgrl_convergence_tester.h" 00006 00007 //: Determine convergence based on the weighted average of geometric errors. 00008 // 00009 class rgrl_convergence_on_weighted_error 00010 : public rgrl_convergence_tester 00011 { 00012 public: 00013 //: Create a tester with a tolerance \a tol. 00014 // 00015 // The tolerance value determines if the transformation is 00016 // considered acceptable. It is not used for the testing of 00017 // convergence. 00018 // 00019 rgrl_convergence_on_weighted_error( double tol ); 00020 00021 virtual ~rgrl_convergence_on_weighted_error(); 00022 00023 rgrl_converge_status_sptr 00024 compute_status( rgrl_converge_status_sptr prev_status, 00025 rgrl_view const& prev_view, 00026 rgrl_view const& current_view, 00027 rgrl_set_of<rgrl_match_set_sptr> const& current_match_sets, 00028 rgrl_set_of<rgrl_scale_sptr> const& current_scales, 00029 bool penalize_scaling = false ) const; 00030 00031 //: verify the final alignment 00032 virtual 00033 rgrl_converge_status_sptr 00034 verify( rgrl_transformation_sptr const& xform_estimate, 00035 rgrl_set_of<rgrl_match_set_sptr> const& current_match_sets, 00036 rgrl_set_of<rgrl_scale_sptr> const& current_scales )const; 00037 00038 // Defines type-related functions 00039 rgrl_type_macro( rgrl_convergence_on_weighted_error, rgrl_convergence_tester ); 00040 00041 protected: 00042 double 00043 compute_alignment_error( rgrl_set_of<rgrl_match_set_sptr> const& current_match_sets ) const; 00044 00045 double 00046 compute_alignment_error( rgrl_match_set_sptr const& current_match_set ) const; 00047 00048 private: 00049 double tolerance_; 00050 }; 00051 00052 #endif // rgrl_convergence_on_weighted_error_h_
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