support_measurement.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <cstddef>
#include <limits>
#include <vector>
 
namespace colmap {
 
// Measure the support of a model by counting the number of inliers and
// summing all inlier residuals. The support is better if it has more inliers
// and a smaller residual sum.
struct InlierSupportMeasurer {
    struct Support {
        // The number of inliers.
        size_t num_inliers = 0;
 
        // The sum of all inlier residuals.
        double residual_sum = std::numeric_limits<double>::max();
    };
 
    // Compute the support of the residuals.
    Support Evaluate(const std::vector<double>& residuals,
                     const double max_residual);
 
    // Compare the two supports and return the better support.
    bool Compare(const Support& support1, const Support& support2);
};
 
// Measure the support of a model by its fitness to the data as used in MSAC.
// A support is better if it has a smaller MSAC score.
struct MEstimatorSupportMeasurer {
    struct Support {
        // The number of inliers.
        size_t num_inliers = 0;
 
        // The MSAC score, defined as the truncated sum of residuals.
        double score = std::numeric_limits<double>::max();
    };
 
    // Compute the support of the residuals.
    Support Evaluate(const std::vector<double>& residuals,
                     const double max_residual);
 
    // Compare the two supports and return the better support.
    bool Compare(const Support& support1, const Support& support2);
};
 
}  // namespace colmap