38#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_CENTRALRELATIVEPOSESACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_CENTRALRELATIVEPOSESACPROBLEM_HPP_
58namespace relative_pose
94 bool randomSeed =
true) :
114 const std::vector<int> & indices,
115 bool randomSeed =
true) :
132 const std::vector<int> & indices,
140 const std::vector<int> & indices,
141 std::vector<double> & scores)
const;
147 const std::vector<int> & inliers,
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: CentralRelativePoseSacProblem.hpp:69
virtual int getSampleSize() const
See parent-class.
enum opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::Algorithm algorithm_t
algorithm_t _algorithm
Definition: CentralRelativePoseSacProblem.hpp:160
virtual ~CentralRelativePoseSacProblem()
Definition: CentralRelativePoseSacProblem.hpp:126
transformation_t model_t
Definition: CentralRelativePoseSacProblem.hpp:72
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition: CentralRelativePoseSacProblem.hpp:74
Algorithm
Definition: CentralRelativePoseSacProblem.hpp:78
adapter_t & _adapter
Definition: CentralRelativePoseSacProblem.hpp:158
CentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition: CentralRelativePoseSacProblem.hpp:111
CentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool randomSeed=true)
Constructor.
Definition: CentralRelativePoseSacProblem.hpp:93
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) 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...