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/*
* Copyright (C) 2011 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
/* $Id: db_robust.h,v 1.4 2011/06/17 14:03:31 mbansal Exp $ */
#ifndef DB_ROBUST
#define DB_ROBUST
/*****************************************************************
* Lean and mean begins here *
*****************************************************************/
/*!
* \defgroup LMRobust (LM) Robust Estimation
*/
/*!
\struct db_Statistics
\ingroup LMRobust
\brief (LnM) Sampling problem statistics
\date Mon Sep 10 10:28:08 EDT 2007
\par Copyright: 2007 Sarnoff Corporation. All Rights Reserved
*/
struct db_stat_struct
{
int nr_points;
int nr_inliers;
double inlier_fraction;
double cost;
double one_over_scale2;
double lambda1;
double lambda2;
double lambda3;
int nr_parameters;
int model_dimension;
double gric;
double inlier_evidence;
double posestd[6];
double rotationvecCov[9];
double translationvecCov[9];
int posecov_inliercount;
int posecovready;
double median_reprojection_error;
};
typedef db_stat_struct db_Statistics;
#endif /* DB_ROBUST */
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