public Matrix <double> FindBestModel(List <KeyValuePair <KeyPoint, KeyPoint> > pairs)
{
Matrix <double> bestModel = null;
int bestScore = 0;
for (int i = 0; i < _numIters; i++)
{
Matrix <double> model = null;
ISet <KeyValuePair <KeyPoint, KeyPoint> > samples = new HashSet <KeyValuePair <KeyPoint, KeyPoint> >();
while (model == null)
{
samples.Add(GetRandomPair(pairs));
if (samples.Count == _numSamples)
{
List <KeyPoint> pointsA = new List <KeyPoint>();
List <KeyPoint> pointsB = new List <KeyPoint>();
foreach (KeyValuePair <KeyPoint, KeyPoint> pair in samples)
{
pointsA.Add(pair.Key);
pointsB.Add(pair.Value);
}
List <KeyPoint> points = new List <KeyPoint>();
points.AddRange(pointsA);
points.AddRange(pointsB);
try
{
model = _transform.ComputeTransform(points);
}
catch (Exception e)
{
model = null;
samples = new HashSet <KeyValuePair <KeyPoint, KeyPoint> >(new List <KeyValuePair <KeyPoint, KeyPoint> >(_numSamples));
}
}
}
int score = 0;
foreach (KeyValuePair <KeyPoint, KeyPoint> pair in pairs)
{
double error = ModelError(pair, model);
if (error < MaxError)
{
score++;
}
}
if (score > bestScore)
{
bestScore = score;
bestModel = model;
}
}
return(bestModel);
}
