/// Find best NFA and number of inliers wrt square error threshold in e.
OrsaModel::ErrorIndex OrsaModel::bestNFA(const std::vector<ErrorIndex>& e,
double loge0,
double maxThreshold,
const std::vector<float> &logc_n,
const std::vector<float> &logc_k) const
{
const int startIndex = SizeSample();
const double multError = (DistToPoint()? 1.0: 0.5);
ErrorIndex bestIndex(std::numeric_limits<double>::infinity(),
startIndex,
0);
const int n = static_cast<int>( e.size() );
for(int k=startIndex+1; k<=n && e[k-1].error<=maxThreshold; ++k) {
double logalpha = logalpha0_[e[k-1].side] + multError*log10(e[k-1].error);
ErrorIndex index(loge0+logalpha*(double)(k-startIndex)+logc_n[k]+logc_k[k],
k, e[k-1].side);
if(index.error < bestIndex.error)
bestIndex = index;
}
return bestIndex;
}
bool Plane::PointOnSide(float x, float y, float z)
{
return DistToPoint(x, y, z) < 0.f;
}