1 /* 2 * Copyright (C) 2011 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 /* $Id: db_robust.h,v 1.4 2011/06/17 14:03:31 mbansal Exp $ */ 18 19 #ifndef DB_ROBUST 20 #define DB_ROBUST 21 22 23 24 /***************************************************************** 25 * Lean and mean begins here * 26 *****************************************************************/ 27 /*! 28 * \defgroup LMRobust (LM) Robust Estimation 29 */ 30 31 /*! 32 \struct db_Statistics 33 \ingroup LMRobust 34 \brief (LnM) Sampling problem statistics 35 \date Mon Sep 10 10:28:08 EDT 2007 36 \par Copyright: 2007 Sarnoff Corporation. All Rights Reserved 37 */ 38 struct db_stat_struct 39 { 40 int nr_points; 41 int nr_inliers; 42 double inlier_fraction; 43 double cost; 44 double one_over_scale2; 45 double lambda1; 46 double lambda2; 47 double lambda3; 48 int nr_parameters; 49 int model_dimension; 50 double gric; 51 double inlier_evidence; 52 double posestd[6]; 53 double rotationvecCov[9]; 54 double translationvecCov[9]; 55 int posecov_inliercount; 56 int posecovready; 57 double median_reprojection_error; 58 }; 59 typedef db_stat_struct db_Statistics; 60 61 #endif /* DB_ROBUST */ 62