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// OutlierDetection.cpp: implementation of the COutlierDetection class. 
// 
////////////////////////////////////////////////////////////////////// 
 
#include "stdafx.h" 
#include "test.h" 
#include "math.h" 
#include "OutlierDetection.h" 
 
#ifdef _DEBUG 
#undef THIS_FILE 
static char THIS_FILE[]=__FILE__; 
#define new DEBUG_NEW 
#endif 
 
#define expvalue 2.2204e-016 
#define BrightValue 250 
#define DarkValue 5 
////////////////////////////////////////////////////////////////////// 
// Construction/Destruction 
////////////////////////////////////////////////////////////////////// 
struct Point_Pair 
{ 
	CPoint LP; 
	CPoint RP; 
	double march; 
	double dtheta; 
}; 
COutlierDetection::COutlierDetection() 
{ 
 
} 
 
COutlierDetection::~COutlierDetection() 
{ 
 
} 
/* 
    输入参数：matchPair：初始匹配的特征点对 
	          nMatchNum：初始匹配的特征点数目 
			  index：最佳拟和时的拟和点在matchpair中的索引值 
			  nAffineNum：拟和出来的点数目 
 
*/ 
BOOL COutlierDetection::AFFINERANSAC(Point_Pair* matchPair,int nMatchNum, 
								 int*& index,double*& dbAffine,int& nAffineNum) 
{ 
	int s=3;//平面仿射变换 
    index = NULL; 
    if (ransac(matchPair,nMatchNum,s,dbAffine,index,nAffineNum))  
        return TRUE; 
	else 
		return FALSE; 
} 
BOOL COutlierDetection::ransac(Point_Pair* matchpair,int nMatchNum,int s, 
			double*& dbaffinepara,int*& index,int& nAffineNum) 
{ 
  	double p = 0.99;     
	int maxTrials = 1000;     
	int maxDataTrials = 100;  
   	 
	double* M = new double[6]; 
	memset(M,0.0,sizeof(double)*6); 
	int	trialcount = 0; 
    int bestscore =  0;   
	int score; 
    int N = 1; 
	int* ind = new int[s]; 
	int* perMIndex = NULL; 
	int* bestMIndex = NULL; 
	int i,k; 
	int temp; 
	while (N > trialcount) 
	{ 
		/*产生随机序列*/ 
		srand((unsigned)time(NULL));  
	    for(i=0;i bestscore)    
		{ 
			bestscore = score; 
			 
			for(k=0;k<6;k++) 
			{ 
  				if (M[k]<0.0000001) { 
					M[k] = 0; 
				} 
			} 
			dbaffinepara = M; 
			/*删除前一拟和的序列*/ 
			if (bestMIndex!=NULL) { 
				delete[] bestMIndex; 
				bestMIndex = NULL; 
			} 
			bestMIndex = perMIndex; 
			double fracinliers =  (double)score/nMatchNum; 
			double pNoOutliers = 1 - pow(fracinliers,s); 
			pNoOutliers = max(expvalue,pNoOutliers); 
			pNoOutliers = min(1-expvalue, pNoOutliers); 
			N = log(1-p)/log(pNoOutliers); 
			trialcount = 0; 
			continue; 
		} 
		else 
		{ 
			if (perMIndex) { 
				delete[] perMIndex; 
				perMIndex = NULL; 
			} 
			trialcount = trialcount+1; 
		} 
		if (trialcount>maxTrials) { 
			break; 
		} 
	} 
	if (dbaffinepara==NULL) { 
		return FALSE; 
	} 
	else{ 
		index = bestMIndex; 
		nAffineNum = bestscore; 
		return TRUE; 
	} 
} 
void COutlierDetection::affinetransform(Point_Pair* matchpair,int* ind,int s,double* M) 
{ 
	int i,j; 
	CPoint pPointBase[3]; 
	CPoint pPointSampl[3]; 
	for(i=0;i