irls.h

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// -*- c++ -*-

// Copyright (C) 2005,2009 Tom Drummond (twd20@cam.ac.uk)
//
// This file is part of the TooN Library.  This library is free
// software; you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the
// Free Software Foundation; either version 2, or (at your option)
// any later version.

// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.

// You should have received a copy of the GNU General Public License along
// with this library; see the file COPYING.  If not, write to the Free
// Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307,
// USA.

// As a special exception, you may use this file as part of a free software
// library without restriction.  Specifically, if other files instantiate
// templates or use macros or inline functions from this file, or you compile
// this file and link it with other files to produce an executable, this
// file does not by itself cause the resulting executable to be covered by
// the GNU General Public License.  This exception does not however
// invalidate any other reasons why the executable file might be covered by
// the GNU General Public License.


#ifndef __IRLS_H
#define __IRLS_H

#include <TooN/wls.h>
#include <cassert>
#include <cmath>

namespace TooN {

        template<typename Precision>
        struct RobustI {
                void set_sd(Precision x){ sd_inlier = x;} 
                double sd_inlier; 
                inline Precision reweight(Precision x) {return 1/(sd_inlier+fabs(x));}  
                inline Precision true_scale(Precision x) {return reweight(x) - fabs(x)*reweight(x)*reweight(x);}  
                inline Precision objective(Precision x) {return fabs(x) + sd_inlier*log(sd_inlier*reweight(x));}  
        };

        template<typename Precision>
        struct RobustII {
                void set_sd(Precision x){ sd_inlier = x*x;} 
                Precision sd_inlier; 
                inline Precision reweight(Precision d){return 1/(sd_inlier+d*d);} 
                inline Precision true_scale(Precision d){return d - 2*d*reweight(d);} 
                inline Precision objective(Precision d){return 0.5 * log(1 + d*d/sd_inlier);} 
        };

        template<typename Precision>
        struct ILinear {
                void set_sd(Precision){} 
                inline Precision reweight(Precision d){return 1;} 
                inline Precision true_scale(Precision d){return 1;} 
                inline Precision objective(Precision d){return d*d;} 
        };
        
        template<typename Precision>
        struct RobustIII {

                void set_sd(Precision x){ sd_inlier = x*x;} 
                Precision sd_inlier; 

                Precision reweight(Precision x) const
                {
                        double d = (1 + x*x/sd_inlier);
                        return 1/(d*d);
                }       
                Precision objective(Precision x) const 
                {
                        return x*x / (2*(1 + x*x/sd_inlier));
                }
        };

        template <int Size, typename Precision, template <typename Precision> class Reweight>
        class IRLS
                : public Reweight<Precision>,
                  public WLS<Size,Precision>
        {
        public:
                IRLS(int size=Size):
                        WLS<Size,Precision>(size),
                        my_true_C_inv(Zeros(size))
                {
                        my_residual=0;
                }
                
                template<int Size2, typename Precision2, typename Base2>
                inline void add_mJ(Precision m, const Vector<Size2,Precision2,Base2>& J) {
                        SizeMismatch<Size,Size2>::test(my_true_C_inv.num_rows(), J.size());

                        Precision scale = Reweight<Precision>::reweight(m);
                        Precision ts = Reweight<Precision>::true_scale(m);
                        my_residual += Reweight<Precision>::objective(m);

                        WLS<Size>::add_mJ(m,J,scale);

                        Vector<Size,Precision> scaledm(m*ts);

                        my_true_C_inv += scaledm.as_col() * scaledm.as_row();

                }

                void operator += (const IRLS& meas){
                        WLS<Size>::operator+=(meas);
                        my_true_C_inv += meas.my_true_C_inv;
                }


                Matrix<Size,Size,Precision>& get_true_C_inv() {return my_true_C_inv;}
                const Matrix<Size,Size,Precision>& get_true_C_inv()const {return my_true_C_inv;}

                Precision get_residual() {return my_residual;}

                void clear(){
                        WLS<Size,Precision>::clear();
                        my_residual=0;
                        my_true_C_inv = Zeros;
                }

        private:

                Precision my_residual;

                Matrix<Size,Size,Precision> my_true_C_inv;

                // comment out to allow bitwise copying
                IRLS( IRLS& copyof );
                int operator = ( IRLS& copyof );
        };

}

#endif

---

libtoon
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 10:09:37 2013