[Toon-members] tag/tag fourpointpose.h

[Gerhard Reitmayr]

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