OpenGV
A library for solving calibrated central and non-central geometric vision problems
MultiNoncentralAbsolutePoseSacProblem.hpp
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30
39#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_MULTINONCENTRALABSOLUTEPOSESACPROBLEM_HPP_
40#define OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_MULTINONCENTRALABSOLUTEPOSESACPROBLEM_HPP_
41
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace sac_problems
55{
59namespace absolute_pose
60{
61
69 public sac::MultiSampleConsensusProblem<transformation_t>
70{
71public:
76
77 //This multisacproblem uses either gp3p or p3p for finding the relative pose
78
83 MultiNoncentralAbsolutePoseSacProblem(adapter_t & adapter, bool asCentral = false) :
85 _adapter(adapter),
86 _asCentral(asCentral)
87 {
88 std::vector<int> numberCorrespondences;
89 for(size_t i = 0; i < adapter.getNumberFrames(); i++)
90 numberCorrespondences.push_back(adapter.getNumberCorrespondences(i));
91 setUniformIndices(numberCorrespondences);
92 };
93
101 adapter_t & adapter,
102 const std::vector<std::vector<int> > & indices,
103 bool asCentral = false ) :
105 _adapter(adapter),
106 _asCentral(asCentral)
107 {
108 setIndices(indices);
109 };
110
115
120 const std::vector< std::vector<int> > & indices,
121 model_t & outModel) const;
122
127 const model_t & model,
128 const std::vector<std::vector<int> > & indices,
129 std::vector<std::vector<double> > & scores) const;
130
135 const std::vector<std::vector<int> > & inliers,
136 const model_t & model,
137 model_t & optimized_model);
138
142 virtual std::vector<int> getSampleSizes() const;
143
144protected:
149};
150
151}
152}
153}
154
155#endif //#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_MULTINONCENTRALABSOLUTEPOSESACPROBLEM_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: AbsoluteMultiAdapterBase.hpp:67
virtual size_t getNumberCorrespondences(size_t frameIndex) const =0
Retrieve the number of correspondences for a camera.
virtual size_t getNumberFrames() const =0
Retrieve the number of cameras.
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: MultiNoncentralAbsolutePoseSacProblem.hpp:70
transformation_t model_t
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:73
MultiNoncentralAbsolutePoseSacProblem(adapter_t &adapter, bool asCentral=false)
Constructor.
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:83
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< std::vector< int > > &indices, std::vector< std::vector< double > > &scores) const
See parent-class.
virtual bool computeModelCoefficients(const std::vector< std::vector< int > > &indices, model_t &outModel) const
See parent-class.
adapter_t & _adapter
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:146
opengv::absolute_pose::AbsoluteMultiAdapterBase adapter_t
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:75
bool _asCentral
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:148
virtual std::vector< int > getSampleSizes() const
See parent-class.
virtual ~MultiNoncentralAbsolutePoseSacProblem()
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:114
virtual void optimizeModelCoefficients(const std::vector< std::vector< int > > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
MultiNoncentralAbsolutePoseSacProblem(adapter_t &adapter, const std::vector< std::vector< int > > &indices, bool asCentral=false)
Constructor.
Definition: MultiNoncentralAbsolutePoseSacProblem.hpp:100
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...