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