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176 lines
5.3 KiB
176 lines
5.3 KiB
/* |
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* RobustNorms.h |
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* |
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* Copyright (c) 2014-2022 SEACAVE |
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* |
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* Author(s): |
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* |
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* cDc <cdc.seacave@gmail.com> |
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* |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Affero General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Affero General Public License for more details. |
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* |
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* You should have received a copy of the GNU Affero General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* |
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* Additional Terms: |
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* |
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* You are required to preserve legal notices and author attributions in |
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* that material or in the Appropriate Legal Notices displayed by works |
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* containing it. |
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*/ |
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#ifndef _SEACAVE_ROBUSTNORMS_H_ |
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#define _SEACAVE_ROBUSTNORMS_H_ |
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// I N C L U D E S ///////////////////////////////////////////////// |
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// D E F I N E S /////////////////////////////////////////////////// |
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// S T R U C T S /////////////////////////////////////////////////// |
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namespace SEACAVE { |
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// M-estimators to be used during nonlinear refinement for increased robustness to outlier residuals: |
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// new_residual = robustNorm(residual) |
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namespace RobustNorm { |
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template<typename TYPE> |
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struct Identity { |
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inline TYPE operator()(const TYPE& r) const { |
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return r; |
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} |
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}; |
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template<typename TYPE> |
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struct L1 { |
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inline TYPE operator()(const TYPE& r) const { |
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return r / (std::sqrt(std::abs(r)) + TYPE(1e-12)); |
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} |
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}; |
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template<typename TYPE> |
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struct Exp { |
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inline Exp(const TYPE& _threshold) |
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: sigma(TYPE(-1) / (TYPE(2) * SQUARE(_threshold))) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return r * std::exp(SQUARE(r)*sigma); |
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} |
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const TYPE sigma; |
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}; |
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template<typename TYPE> |
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struct BlakeZisserman { |
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inline BlakeZisserman(const TYPE& _threshold) |
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: threshold(_threshold), invThreshold(TYPE(1)/threshold), eps(std::exp(-SQUARE(threshold))) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return -log(std::exp(-SQUARE(r) * invThreshold) + eps); |
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} |
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const TYPE threshold; |
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const TYPE invThreshold; |
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const TYPE eps; |
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}; |
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template<typename TYPE> |
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struct Huber { |
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inline Huber(const TYPE& _threshold) |
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: threshold(_threshold) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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const TYPE dAbs(std::abs(r)); |
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if (dAbs <= threshold) |
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return r; |
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return std::copysign(std::sqrt(threshold * (TYPE(2) * dAbs - threshold)), r); |
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} |
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const TYPE threshold; |
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}; |
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template<typename TYPE> |
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struct PseudoHuber { |
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inline PseudoHuber(const TYPE& _threshold) |
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: threshold(_threshold), thresholdSq(SQUARE(_threshold)), invThreshold(TYPE(1)/threshold) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return std::sqrt(TYPE(2) * thresholdSq * (std::sqrt(TYPE(1) + SQUARE(r * invThreshold)) - TYPE(1))); |
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} |
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const TYPE threshold; |
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const TYPE thresholdSq; |
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const TYPE invThreshold; |
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}; |
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template<typename TYPE> |
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struct GemanMcClure { |
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inline GemanMcClure(const TYPE& _threshold) |
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: thresholdSq(SQUARE(_threshold)) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return r * std::sqrt(thresholdSq/(thresholdSq+SQUARE(r))); |
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} |
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const TYPE thresholdSq; |
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}; |
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template<typename TYPE> |
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struct Cauchy { |
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inline Cauchy(const TYPE& _threshold) |
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: thresholdSq(SQUARE(_threshold)), invThresholdSq(TYPE(1)/thresholdSq) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return std::sqrt(thresholdSq*log(TYPE(1)+SQUARE(r)*invThresholdSq)); |
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} |
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const TYPE thresholdSq; |
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const TYPE invThresholdSq; |
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}; |
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template<typename TYPE> |
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struct Tukey { |
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inline Tukey(const TYPE& _threshold) |
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: threshold(_threshold), thresholdCb6(CUBE(_threshold)/TYPE(6)), invThreshold(TYPE(1)/threshold), sqrtThresholdCb6(std::sqrt(thresholdCb6)) { ASSERT(_threshold > 0); } |
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inline TYPE operator()(const TYPE& r) const { |
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return std::abs(r) < threshold ? std::sqrt(thresholdCb6*(TYPE(1)-CUBE(TYPE(1)-SQUARE(r*invThreshold)))) : sqrtThresholdCb6; |
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} |
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const TYPE threshold; |
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const TYPE thresholdCb6; |
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const TYPE invThreshold; |
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const TYPE sqrtThresholdCb6; |
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}; |
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} // namespace RobustNorm |
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/*----------------------------------------------------------------*/ |
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// makes sure the inverse NCC score does not exceed 0.3 |
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#if 0 |
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template <typename T> |
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inline T robustincc(const T x) { return x / (T(1) + T(3) * x); } |
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template <typename T> |
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inline T robustinccg(const T x) { return T(1)/SQUARE(T(1) + T(3) * x); } |
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template <typename T> |
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inline T unrobustincc(const T y) { return y / (T(1) - T(3) * y); } |
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#elif 0 |
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template <typename T> |
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inline T robustincc(const T x) { return T(1)-EXP(x*x*T(-4)); } |
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template <typename T> |
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inline T robustinccg(const T x) { return T(8)*x*EXP(x*x*T(-4)); } |
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template <typename T> |
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inline T unrobustincc(const T y) { return SQRT(-LOGN(T(1) - y))/T(2); } |
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#else |
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template <typename T> |
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inline T robustincc(const T x) { return x/SQRT(T(0.3)+x*x); } |
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template <typename T> |
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inline T robustinccg(const T x) { return T(0.3)/((T(0.3)+x*x)*SQRT(T(0.3)+x*x)); } |
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template <typename T> |
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inline T unrobustincc(const T y) { return (SQRT(30)*y)/(T(10)*SQRT(T(1) - y*y)); } |
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#endif |
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/*----------------------------------------------------------------*/ |
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} // namespace SEACAVE |
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#endif // _SEACAVE_ROBUSTNORMS_H_
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