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