OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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NoncentralRelativePoseSacProblem.hpp
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1/******************************************************************************
2 * Author: Laurent Kneip *
3 * Contact: kneip.laurent@gmail.com *
4 * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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30
38#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_
40
42#include <opengv/types.hpp>
44
48namespace opengv
49{
53namespace sac_problems
54{
58namespace relative_pose
59{
60
69 public sac::SampleConsensusProblem<transformation_t>
70{
71public:
76
78 typedef enum Algorithm
79 {
80 SIXPT = 0, // [16]
81 GE = 1, // []
82 SEVENTEENPT = 2 // [12]
84
94 adapter_t & adapter, algorithm_t algorithm, bool asCentral = false,
95 bool randomSeed = true) :
96 sac::SampleConsensusProblem<model_t> (randomSeed),
97 _adapter(adapter),
98 _algorithm(algorithm),
99 _asCentral(asCentral)
100 {
102 };
103
115 adapter_t & adapter,
116 algorithm_t algorithm,
117 const std::vector<int> & indices,
118 bool asCentral = false,
119 bool randomSeed = true) :
120 sac::SampleConsensusProblem<model_t> (randomSeed),
121 _adapter(adapter),
122 _algorithm(algorithm),
123 _asCentral(asCentral)
124 {
125 setIndices(indices);
126 };
127
132
137 const std::vector<int> & indices,
138 model_t & outModel) const;
139
144 const model_t & model,
145 const std::vector<int> & indices,
146 std::vector<double> & scores) const;
147
152 const std::vector<int> & inliers,
153 const model_t & model,
154 model_t & optimized_model);
155
159 virtual int getSampleSize() const;
160
161protected:
168};
169
170}
171}
172}
173
174#endif /* OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition RelativeAdapterBase.hpp:64
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
Definition SampleConsensusProblem.hpp:68
void setIndices(const std::vector< int > &indices)
Set the indices_ variable (see member-description).
void setUniformIndices(int N)
Use this method if you want to use all samples.
SampleConsensusProblem(bool randomSeed=true)
Contructor.
Definition NoncentralRelativePoseSacProblem.hpp:70
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition NoncentralRelativePoseSacProblem.hpp:75
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
algorithm_t _algorithm
Definition NoncentralRelativePoseSacProblem.hpp:165
Algorithm
Definition NoncentralRelativePoseSacProblem.hpp:79
transformation_t model_t
Definition NoncentralRelativePoseSacProblem.hpp:73
enum opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::Algorithm algorithm_t
NoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition NoncentralRelativePoseSacProblem.hpp:93
adapter_t & _adapter
Definition NoncentralRelativePoseSacProblem.hpp:163
NoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition NoncentralRelativePoseSacProblem.hpp:114
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
virtual ~NoncentralRelativePoseSacProblem()
Definition NoncentralRelativePoseSacProblem.hpp:131
bool _asCentral
Definition NoncentralRelativePoseSacProblem.hpp:167
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...