OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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EigensolverSacProblem.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_EIGENSOLVERSACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_EIGENSOLVERSACPROBLEM_HPP_
40
42#include <opengv/types.hpp>
44
48namespace opengv
49{
53namespace sac_problems
54{
58namespace relative_pose
59{
60
67 public sac::SampleConsensusProblem<eigensolverOutput_t>
68{
69public:
74
82 EigensolverSacProblem(adapter_t & adapter, size_t sampleSize,
83 bool randomSeed = true) :
84 sac::SampleConsensusProblem<model_t> (randomSeed),
85 _adapter(adapter),
86 _sampleSize(sampleSize)
87 {
89 };
90
101 adapter_t & adapter,
102 size_t sampleSize,
103 const std::vector<int> & indices,
104 bool randomSeed = true) :
105 sac::SampleConsensusProblem<model_t> (randomSeed),
106 _adapter(adapter),
107 _sampleSize(sampleSize)
108 {
109 setIndices(indices);
110 };
111
116
121 const std::vector<int> &indices,
122 model_t & outModel) const;
123
128 const model_t & model,
129 const std::vector<int> & indices,
130 std::vector<double> & scores) const;
131
136 const std::vector<int> & inliers,
137 const model_t & model,
138 model_t & optimized_model);
139
143 virtual int getSampleSize() const;
144
145protected:
150};
151
152}
153}
154}
155
156#endif //#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_EIGENSOLVERSACPROBLEM_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 EigensolverSacProblem.hpp:68
eigensolverOutput_t model_t
Definition EigensolverSacProblem.hpp:71
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition EigensolverSacProblem.hpp:73
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.
adapter_t & _adapter
Definition EigensolverSacProblem.hpp:147
virtual int getSampleSize() const
See parent-class.
EigensolverSacProblem(adapter_t &adapter, size_t sampleSize, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition EigensolverSacProblem.hpp:100
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
EigensolverSacProblem(adapter_t &adapter, size_t sampleSize, bool randomSeed=true)
Constructor.
Definition EigensolverSacProblem.hpp:82
size_t _sampleSize
Definition EigensolverSacProblem.hpp:149
virtual ~EigensolverSacProblem()
Definition EigensolverSacProblem.hpp:115
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Definition types.hpp:145
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...