#include?
#include?“LineParamEstimator.h“

LineParamEstimator::LineParamEstimator（double?delta）?:?m_deltaSquared（delta*delta）?{}
/*****************************************************************************/
?/*?
?*?Compute?the?line?parameters??[n_xn_ya_xa_y]?
?*?通過輸入的兩點來確定所在直線，采用法線向量的方式來表示，以兼容平行或垂直的情況?
?*?其中n_xn_y為歸一化后，與原點構成的法線向量，a_xa_y為直線上任意一點?
?*/??
/*****************************************************************************/?*/
void?LineParamEstimator::estimate（std::vector?&data?std::vector?¶meters）
{
	parameters.clear（）;
	if（data.size（）<2）
		return;
	double?nx?=?data[1]->y?-?data[0]->y;
	double?ny?=?data[0]->x?-?data[1]->x;//?原始直線的斜率為K，則法線的斜率為-1/k?
	double?norm?=?sqrt（nx*nx?+?ny*ny）;
	
	parameters.push_back（nx/norm）;
	parameters.push_back（ny/norm）;
	parameters.push_back（data[0]->x）;
	parameters.push_back（data[0]->y）;		
}
/*****************************************************************************/
/*?
?*?Compute?the?line?parameters??[n_xn_ya_xa_y]?
?*?使用最小二乘法，從輸入點中擬合出確定直線模型的所需參量?
?*/??

void?LineParamEstimator::leastSquaresEstimate（std::vector?&data?
																							std::vector?¶meters）
{
	double?meanX?meanY?nx?ny?norm;
	double?covMat11?covMat12?covMat21?covMat22;?//?The?entries?of?the?symmetric?covarinace?matrix
	int?i?dataSize?=?data.size（）;

	parameters.clear（）;
	if（data.size（）<2）
		return;

	meanX?=?meanY?=?0.0;
	covMat11?=?covMat12?=?covMat21?=?covMat22?=?0;
	for（i=0;?i		meanX?+=data[i]->x;
		meanY?+=data[i]->y;

		covMat11	+=data[i]->x?*?data[i]->x;
		covMat12	+=data[i]->x?*?data[i]->y;
		covMat22	+=data[i]->y?*?data[i]->y;
	}

	meanX/=dataSize;
	meanY/=dataSize;

	covMat11?-=?dataSize*meanX*meanX;
??covMat12?-=?dataSize*meanX*meanY;
	covMat22?-=?dataSize*meanY*meanY;
	covMat21?=?covMat12;

	if（covMat11<1e-12）?{
		nx?=?1.0;
	??ny?=?0.0;
	}
	else?{	????//lamda1?is?the?largest?eigen-value?of?the?covariance?matrix?
	???????????//and?is?used?to?compute?the?eigne-vector?corresponding?to?the?smallest
	???????????//eigenvalue?which?isn‘t?computed?explicitly.
		double?lamda1?=?（covMat11?+?covMat22?+?sqrt（（covMat11-covMat22）*（covMat11-covMat22）?+?4*covMat12*covMat12））?/?2.0;
		nx?=?-covMat12;
		ny?=?lamda1?-?covMat22;
		norm?=?sqrt（nx*nx?+?ny*ny）;
		nx/=norm;
		ny/=norm;
	}
	parameters.push_back（nx）;
	parameters.push_back（ny）;
	parameters.push_back（meanX）;
	parameters.push_back（meanY）;
}
/*****************************************************************************/??
/*?
?*?Given?the?line?parameters??[n_xn_ya_xa_y]?check?if?
?*?[n_x?n_y]?dot?[data.x-a_x?data.y-a_y]??*?通過與已知法線的點乘結果，確定待測點與已知直線的匹配程度；結果越小則越符合，為?
?*?零則表明點在直線上?
?*/?
bool?LineParamEstimator::agree（std::vector?¶meters?Point2D?&data）
{
	double?signedDistance?=?parameters[0]*（data.x-parameters[2]）?+?parameters[1]*（data.y-parameters[3]）;?
	return?（（signedDistance*signed

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-05-30?10:51??Ziv?Yaniv\
?????目錄???????????0??2014-05-29?15:17??Ziv?Yaniv\Debug\
?????文件???????11706??2014-05-29?15:17??Ziv?Yaniv\Debug\BuildLog.htm
?????文件????????2048??2014-05-29?15:16??Ziv?Yaniv\Debug\RANSAC.exe.embed.manifest
?????文件???????93184??2014-05-29?15:17??Ziv?Yaniv\Debug\vc90.idb
?????文件??????135168??2014-05-29?15:17??Ziv?Yaniv\Debug\vc90.pdb
?????文件????????5102??2014-05-30?10:22??Ziv?Yaniv\LineParamEstimator.cpp
?????文件????????2693??2004-05-12?16:15??Ziv?Yaniv\LineParamEstimator.h
?????文件????????1765??2004-05-12?16:17??Ziv?Yaniv\ParameterEsitmator.h
?????文件??????????22??2004-05-11?19:13??Ziv?Yaniv\Point2D.cpp
?????文件?????????442??2014-05-29?15:17??Ziv?Yaniv\Point2D.h
?????文件????????4725??2004-05-11?20:20??Ziv?Yaniv\RANSAC.dsp
?????文件?????????535??2004-05-11?19:34??Ziv?Yaniv\RANSAC.dsw
?????文件?????1854464??2014-05-30?14:32??Ziv?Yaniv\RANSAC.ncb
?????文件???????53760??2004-05-12?17:05??Ziv?Yaniv\RANSAC.opt
?????文件?????????246??2004-05-12?16:30??Ziv?Yaniv\RANSAC.plg
?????文件?????????877??2014-05-30?10:51??Ziv?Yaniv\RANSAC.sln
?????文件???????18944??2014-05-30?14:32??Ziv?Yaniv\RANSAC.suo
?????文件????????6242??2014-05-29?15:16??Ziv?Yaniv\RANSAC.vcproj
?????文件????????1409??2014-05-30?14:32??Ziv?Yaniv\RANSAC.vcproj.ZQL-PC.ZQL.user
?????文件???????13096??2004-05-12?16:18??Ziv?Yaniv\Ransac.h
?????文件????????3970??2014-05-30?10:51??Ziv?Yaniv\RansacExample.cpp
?????文件????????1819??2004-05-12?17:04??Ziv?Yaniv\Readme
?????文件?????????286??2004-05-12?15:31??Ziv?Yaniv\Unix_Makefile