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[Toon-members] tag/tag fourpointpose.h
From: |
Gerhard Reitmayr |
Subject: |
[Toon-members] tag/tag fourpointpose.h |
Date: |
Mon, 23 Jul 2007 17:51:51 +0000 |
CVSROOT: /cvsroot/toon
Module name: tag
Changes by: Gerhard Reitmayr <gerhard> 07/07/23 17:51:51
Modified files:
tag : fourpointpose.h
Log message:
add score function for likelihood-based ransac scoring
CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/tag/fourpointpose.h?cvsroot=toon&r1=1.5&r2=1.6
Patches:
Index: fourpointpose.h
===================================================================
RCS file: /cvsroot/toon/tag/tag/fourpointpose.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -u -b -r1.5 -r1.6
--- fourpointpose.h 26 Jul 2006 17:08:07 -0000 1.5
+++ fourpointpose.h 23 Jul 2007 17:51:51 -0000 1.6
@@ -93,6 +93,18 @@
}
return 100;
}
+
+ template <class Obs> inline double score(const Obs & obs) const {
+ if(valid){
+ TooN::Vector<3> pos = T * obs.position;
+ TooN::Vector<2> diff = project(pos) - obs.pixel / ImagePlaneZ;
+ double disp = diff*diff;
+ return disp;
+ }
+ return 100;
+ }
+
+
};
} // namespace tag
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