39#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
40#define OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
59namespace absolute_pose
95 bool randomSeed =
true) :
115 const std::vector<int> & indices,
116 bool randomSeed =
true) :
133 const std::vector<int> & indices,
141 const std::vector<int> & indices,
142 std::vector<double> & scores)
const;
148 const std::vector<int> & inliers,
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition AbsoluteAdapterBase.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 AbsolutePoseSacProblem.hpp:70
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
AbsolutePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool randomSeed=true)
Constructor.
Definition AbsolutePoseSacProblem.hpp:94
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
transformation_t model_t
Definition AbsolutePoseSacProblem.hpp:73
enum opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::Algorithm algorithm_t
algorithm_t _algorithm
Definition AbsolutePoseSacProblem.hpp:161
AbsolutePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition AbsolutePoseSacProblem.hpp:112
Algorithm
Definition AbsolutePoseSacProblem.hpp:79
virtual int getSampleSize() const
See parent-class.
opengv::absolute_pose::AbsoluteAdapterBase adapter_t
Definition AbsolutePoseSacProblem.hpp:75
adapter_t & _adapter
Definition AbsolutePoseSacProblem.hpp:159
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
virtual ~AbsolutePoseSacProblem()
Definition AbsolutePoseSacProblem.hpp:127
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...