OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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AbsolutePoseSacProblem.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
39#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
40#define OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
41
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace sac_problems
55{
59namespace absolute_pose
60{
61
69 public sac::SampleConsensusProblem<transformation_t>
70{
71public:
76
78 typedef enum Algorithm
79 {
80 TWOPT = 0, // central, with rotation prior
81 KNEIP = 1, // central [1]
82 GAO = 2, // central [2]
83 EPNP = 3, // central [4]
84 GP3P = 4 // non-central [3]
86
95 bool randomSeed = true) :
96 sac::SampleConsensusProblem<model_t> (randomSeed),
97 _adapter(adapter),
98 _algorithm(algorithm)
99 {
101 };
102
113 adapter_t & adapter,
114 algorithm_t algorithm,
115 const std::vector<int> & indices,
116 bool randomSeed = true) :
117 sac::SampleConsensusProblem<model_t> (randomSeed),
118 _adapter(adapter),
119 _algorithm(algorithm)
120 {
121 setIndices(indices);
122 };
123
128
133 const std::vector<int> & indices,
134 model_t & outModel) const;
135
140 const model_t & model,
141 const std::vector<int> & indices,
142 std::vector<double> & scores) const;
143
148 const std::vector<int> & inliers,
149 const model_t & model,
150 model_t & optimized_model);
151
155 virtual int getSampleSize() const;
156
157protected:
162};
163
164}
165}
166}
167
168#endif //#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
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...