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lqs.h
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/////////////////////////////////////////////////////////////////////////////////
//
// Non-linear calibrated camera pose estimation from 3D - 2D correspondences
// Copyright (C) 2011 Manolis Lourakis (lourakis **at** ics.forth.gr)
// Institute of Computer Science, Foundation for Research & Technology - Hellas
// Heraklion, Crete, Greece.
//
/////////////////////////////////////////////////////////////////////////////////
#ifndef _LQS_H
#define _LQS_H
struct rng_state *state;
extern int lqs_numtries(int p, double i, double P);
extern int **lqs_allocsets(int sizeSet, int nbSets);
extern void lqs_freesets(int **sets);
extern void lqs_initrandom(struct rng_state *state);
extern void lqs_setrepeatablerandom(int flag);
extern int lqsfit(int nbData, int sizeSet, int **sets, int nbSets,
void (*residual)(double *x, int nb, void *adata, double *resid),
int (*estimator)(double *x, int nb, int *indexes, void *adata),
int isResidualSqr, int verbose, int maxNbSol, double gate,
double prematureResidual, int dim, double percentageOfGoodData, void *adata,
double *estimate, int *bestSet, int *outliersMap, int *nbOutliers, double *outlierThresh);
extern double lqs_kth_smallest(double *a, int n, int k);
#endif /* _LQS_H */