OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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PointCloudSacProblem.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_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
40
42#include <opengv/types.hpp>
43#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
44
48namespace opengv
49{
53namespace sac_problems
54{
58namespace point_cloud
59{
60
67 public sac::SampleConsensusProblem<transformation_t>
68{
69public:
74
75
82 PointCloudSacProblem(adapter_t & adapter, bool randomSeed = true) :
83 sac::SampleConsensusProblem<model_t> (randomSeed),
84 _adapter(adapter)
85 {
87 };
88
98 adapter_t & adapter,
99 const std::vector<int> & indices,
100 bool randomSeed = true) :
101 sac::SampleConsensusProblem<model_t> (randomSeed),
102 _adapter(adapter)
103 {
104 setIndices(indices);
105 };
106
111
116 const std::vector<int> & indices,
117 model_t & outModel) const;
118
123 const model_t & model,
124 const std::vector<int> & indices,
125 std::vector<double> & scores) const;
126
131 const std::vector<int> & inliers,
132 const model_t & model,
133 model_t & optimized_model);
134
138 virtual int getSampleSize() const;
139
140protected:
143};
144
145}
146}
147}
148
149#endif //#ifndef OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition PointCloudAdapterBase.hpp:62
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 PointCloudSacProblem.hpp:68
virtual int getSampleSize() const
See parent-class.
virtual ~PointCloudSacProblem()
Definition PointCloudSacProblem.hpp:110
adapter_t & _adapter
Definition PointCloudSacProblem.hpp:142
transformation_t model_t
Definition PointCloudSacProblem.hpp:71
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
PointCloudSacProblem(adapter_t &adapter, bool randomSeed=true)
Constructor.
Definition PointCloudSacProblem.hpp:82
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
PointCloudSacProblem(adapter_t &adapter, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition PointCloudSacProblem.hpp:97
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
opengv::point_cloud::PointCloudAdapterBase adapter_t
Definition PointCloudSacProblem.hpp:73
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...