contrib/rpl/rgrl/rgrl_scale_est_all_weights.h

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#ifndef rgrl_scale_est_all_weights_h_
#define rgrl_scale_est_all_weights_h_
//:
// \file
// \brief
// \author Chuck Stewart
// \date   6 Dec 2002

#include "rgrl_scale_estimator.h"

#include <vnl/vnl_matrix.h>
class rgrl_match_set;

//:
// Weighted scale estimator that computes the scale as the sum of the
// weighted residuals divided by the sum of weights. The weights can
// come from either the geometric error, or signature error, or both.
//
// The scale estimator is able to estimate both the geometric scale
// and the signature error in the form of the covariance matrix. The
// latter is optional (\a do_signature_scale ). In practice, if other
// components for the registration engine require the use of
// signature_error_vector, the \a do_signature_scale should be set to
// true for the constructor.
//
class rgrl_scale_est_all_weights
  : public rgrl_scale_estimator_wgted
{
 public:
  rgrl_scale_est_all_weights(  bool do_signature_scale = false );

  rgrl_scale_sptr
  estimate_weighted( rgrl_match_set const& match_set,
                     rgrl_scale_sptr const& current_scales,
                     bool use_signature_only =  false,
                     bool penalize_scaling = false) const;

  // Defines type-related functions
  rgrl_type_macro( rgrl_scale_est_all_weights, rgrl_scale_estimator_wgted );

 private:
  bool
  compute_geometric_scale( double& return_scale,
                           rgrl_match_set const& match_set,
                           bool use_signature_only, 
                           bool penalize_scaling ) const;

  bool
  compute_signature_inv_covar( vnl_matrix<double>& inv_covar, rgrl_match_set const& match_set ) const;

 private:
  bool do_signature_scale_;
};

#endif // rgrl_scale_est_all_weights_h_