void *alloc( void *z )
{
for( int i = 0; i < 1024; i++ ) {
Test_t *t;
t = almalloc( sizeof( Test_t ) );
alfree( t );
}
return NULL;
}
int hestSSE(float* src,
float* dst,
unsigned N,
float maxD,
unsigned maxI,
unsigned rConvg,
double cfd,
unsigned minInl,
float* finalH){
PROSAC_HEST prosacState;
PROSAC_HEST* p = &prosacState;
p->src = (Flt2DPt*)src;
p->dst = (Flt2DPt*)dst;
p->N = N;
p->maxD = maxD;
p->maxI = maxI;
p->rConvg = rConvg;
p->cfd = cfd;
p->minInl = minInl;
p->finalH = finalH;
p->phNum = 4;
p->phEndI = 1;
p->phEndFpI = sacInitPEndFpI(p->rConvg, p->N, 4);
p->phMax = p->N;
p->bestInl = 0;
p->inl = 0;
p->smpl = almalloc(4*sizeof(*p->smpl));
p->H = almalloc(HSIZE);
p->bestH = almalloc(HSIZE);
p->pkdPts = almalloc(8*sizeof(*p->pkdPts));
memset(p->bestH, 0, HSIZE);
p->N_tested = 0;
p->good = 1;
p->t_M = 25;
p->m_S = 1;
p->epsilon = 0.1;
p->delta = 0.01;
sacDesignSPRTTest(p);
/**
* PROSAC Loop
*/
for(p->i=0;p->i<p->maxI;p->i++){
if(sacPhaseEndReached(p)){
sacGoToNextPhase(p);
}
sacGetPROSACSample(p);
if(sacIsSampleDegenerate(p)){
continue;
}
sacGenerateModel(p);
if(sacIsModelDegenerate(p)){
continue;
}
sacEvaluateModelSPRT(p);
sacUpdateSPRT(p);
if(sacIsBestModel(p)){
sacSaveModel(p);
sacUpdateBounds(p);
}
}
if(!sacIsBestModelGoodEnough(p)){
memset(p->bestH, 0, HSIZE);
}
p->finalH && memcpy(p->finalH, p->bestH, HSIZE);
alfree(p->smpl);
alfree(p->H);
alfree(p->bestH);
alfree(p->pkdPts);
return sacIsBestModelGoodEnough(p);
}