OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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MultiNoncentralRelativePoseSacProblem.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
41#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_
42#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_
43
45#include <opengv/types.hpp>
47
51namespace opengv
52{
56namespace sac_problems
57{
61namespace relative_pose
62{
63
74 public sac::MultiSampleConsensusProblem< transformation_t >
75{
76public:
81
83 typedef enum Algorithm
84 {
85 SIXPT = 0, // [16]
86 GE = 1, // []
87 SEVENTEENPT = 2 // [12]
89
90
100 adapter_t & adapter, algorithm_t algorithm, bool asCentral = false,
101 bool randomSeed = true) :
102 sac::MultiSampleConsensusProblem<model_t> (randomSeed),
103 _adapter(adapter),
104 _algorithm(algorithm),
105 _asCentral(asCentral)
106 {
107 std::vector<int> numberCorrespondences;
108 for(size_t i = 0; i < adapter.getNumberPairs(); i++)
109 numberCorrespondences.push_back(adapter.getNumberCorrespondences(i));
110 setUniformIndices(numberCorrespondences);
111 };
112
124 adapter_t & adapter,
125 algorithm_t algorithm,
126 const std::vector<std::vector<int> > & indices,
127 bool asCentral = false,
128 bool randomSeed = true) :
129 sac::MultiSampleConsensusProblem<model_t> (randomSeed),
130 _adapter(adapter),
131 _algorithm(algorithm),
132 _asCentral(asCentral)
133 {
134 setIndices(indices);
135 };
136
141
146 const std::vector< std::vector<int> > & indices,
147 model_t & outModel) const;
148
153 const model_t & model,
154 const std::vector<std::vector<int> > & indices,
155 std::vector<std::vector<double> > & scores) const;
156
161 const std::vector<std::vector<int> > & inliers,
162 const model_t & model,
163 model_t & optimized_model);
164
168 virtual std::vector<int> getSampleSizes() const;
169
170protected:
177};
178
179}
180}
181}
182
183#endif //#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition RelativeMultiAdapterBase.hpp:68
virtual size_t getNumberCorrespondences(size_t pairIndex) const =0
Retrieve the number of correspondences for a camera-pair.
virtual size_t getNumberPairs() const =0
Retrieve the number of camera-pairs.
Definition MultiSampleConsensusProblem.hpp:71
void setIndices(const std::vector< std::vector< int > > &indices)
Set the indices_ variable (see member-description).
MultiSampleConsensusProblem(bool randomSeed=true)
Contructor.
void setUniformIndices(std::vector< int > N)
Use this method if you want to use all samples.
Definition MultiNoncentralRelativePoseSacProblem.hpp:75
bool _asCentral
Definition MultiNoncentralRelativePoseSacProblem.hpp:176
enum opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::Algorithm algorithm_t
MultiNoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< std::vector< int > > &indices, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition MultiNoncentralRelativePoseSacProblem.hpp:123
algorithm_t _algorithm
Definition MultiNoncentralRelativePoseSacProblem.hpp:174
transformation_t model_t
Definition MultiNoncentralRelativePoseSacProblem.hpp:78
virtual bool computeModelCoefficients(const std::vector< std::vector< int > > &indices, model_t &outModel) const
See parent-class.
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< std::vector< int > > &indices, std::vector< std::vector< double > > &scores) const
See parent-class.
Algorithm
Definition MultiNoncentralRelativePoseSacProblem.hpp:84
adapter_t & _adapter
Definition MultiNoncentralRelativePoseSacProblem.hpp:172
opengv::relative_pose::RelativeMultiAdapterBase adapter_t
Definition MultiNoncentralRelativePoseSacProblem.hpp:80
virtual void optimizeModelCoefficients(const std::vector< std::vector< int > > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
virtual ~MultiNoncentralRelativePoseSacProblem()
Definition MultiNoncentralRelativePoseSacProblem.hpp:140
MultiNoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition MultiNoncentralRelativePoseSacProblem.hpp:99
virtual std::vector< int > getSampleSizes() const
See parent-class.
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...