public static IncrementalResult BaselineResult(IList<Vector3> unkPts, Pattern pattern, double beta,
double lambda, double e_sigma)
{
var segments = pattern.Segments;
var pts = segments[segments.Count - 1];
var samplingPtCount = pts.Count;
var unkResampledPts = Helper.Resample(unkPts, samplingPtCount);
var prob = Geometry.LikelihoodOfMatch(unkResampledPts, pts, e_sigma, e_sigma / beta, lambda);
return new IncrementalResult(pattern, prob, segments.Count - 1);
}
public static IncrementalResult IncResult(IList<Vector3> unkPts, Pattern pattern, double beta,
double lambda, double e_sigma)
{
var segments = pattern.Segments;
double maxProb = 0.0d;
int maxIndex = -1;
for (int i = 0, n = segments.Count; i < n; i++)
{
var pts = segments[i];
var samplingPtCount = pts.Count;
var unkResampledPts = Helper.Resample(unkPts, samplingPtCount);
var prob = Geometry.LikelihoodOfMatch(unkResampledPts, pts, e_sigma, e_sigma / beta, lambda);
if (prob > maxProb)
{
maxProb = prob;
maxIndex = i;
}
}
return new IncrementalResult(pattern, maxProb, maxIndex);
}
public IncrementalResult(Pattern pattern, double prob, int indexOfMostLikelySegment)
{
this.Pattern = pattern;
this.Prob = prob;
this.IndexOfMostLikelySegment = indexOfMostLikelySegment;
}