| 136 | } |
| 137 | |
| 138 | unsigned updateIterations(float inlier_ratio, unsigned iter) { |
| 139 | float w = min(max(inlier_ratio, 0.0f), 1.0f); |
| 140 | float wn = pow(1 - w, 4.f); |
| 141 | |
| 142 | float d = 1.f - wn; |
| 143 | if (d < numeric_limits<float>::min()) { return 0; } |
| 144 | |
| 145 | d = log(d); |
| 146 | |
| 147 | float p = min(max(RANSACConfidence, 0.0f), 1.0f); |
| 148 | float n = log(1.f - p); |
| 149 | |
| 150 | return n <= d * static_cast<float>(iter) |
| 151 | ? iter |
| 152 | : static_cast<unsigned>(round(n / d)); |
| 153 | } |
| 154 | |
| 155 | template<typename T> |
| 156 | int computeHomography(T* H_ptr, const float* rnd_ptr, const float* x_src_ptr, |