MLESACRobustEstimator.h

// MLESACRobustEstimator.h:
// ------------------------
//

#ifndef __IPSDKMATH_MLESACROBUSTESTIMATOR_H__
#define __IPSDKMATH_MLESACROBUSTESTIMATOR_H__

#include <IPSDKMath/Estimation/BaseRobustEstimator.h>

namespace ipsdk {
namespace math {


class IPSDKMATH_API MLESACRobustEstimator : public BaseRobustEstimator
{
public:
    MLESACRobustEstimator();
    ~MLESACRobustEstimator();

// methods
public:
    void                    init(const EstimatorPtr& pEstimator,
                                 const ipReal64 gaussianSigma,
                                 const ipReal64 outlierThresholdFactor = 3,
                                 const ipReal64 outlierRangeFactor = 10);

    ipReal64                getGaussianSigma() const;

    ipReal64                getOutlierThresholdFactor() const;

    ipReal64                getOutlierRangeFactor() const;

protected:
    ipReal64        computeScore(const ResidualsSet& curResiduals);

    ipReal64        computeOutlierThreshold(const ipReal64 bestScore,
                                            const ipUInt32 nbData,
                                            const ipUInt32 nbMinRequestedData) const;

// attributes
protected:
    ipReal64    _gaussianSigma;

    ipReal64    _outlierThresholdFactor;

    ipReal64    _outlierRangeFactor;
};


} // end of namespace math
} // end of namespace ipsdk

#endif // __IPSDKMATH_MLESACROBUSTESTIMATOR_H__