OpenGV
A library for solving calibrated central and non-central geometric vision problems
RotationOnlySacProblem.hpp
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30
39#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_ROTATIONONLYSACPROBLEM_HPP_
40#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_ROTATIONONLYSACPROBLEM_HPP_
41
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace sac_problems
55{
59namespace relative_pose
60{
61
69 public sac::SampleConsensusProblem<rotation_t>
70{
71public:
76
77
84 RotationOnlySacProblem(adapter_t & adapter, bool randomSeed = true) :
85 sac::SampleConsensusProblem<model_t> (randomSeed),
86 _adapter(adapter)
87 {
89 };
90
100 adapter_t & adapter,
101 const std::vector<int> & indices, bool randomSeed = true) :
102 sac::SampleConsensusProblem<model_t> (randomSeed),
103 _adapter(adapter)
104 {
105 setIndices(indices);
106 };
107
112
117 const std::vector<int> & indices,
118 model_t & outModel) const;
119
124 const model_t & model,
125 const std::vector<int> & indices,
126 std::vector<double> & scores) const;
127
132 const std::vector<int> & inliers,
133 const model_t & model,
134 model_t & optimized_model);
135
139 virtual int getSampleSize() const;
140
141protected:
144};
145
146}
147}
148}
149
150#endif //#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_ROTATIONONLYSACPROBLEM_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: RotationOnlySacProblem.hpp:70
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
RotationOnlySacProblem(adapter_t &adapter, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition: RotationOnlySacProblem.hpp:99
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
virtual int getSampleSize() const
See parent-class.
RotationOnlySacProblem(adapter_t &adapter, bool randomSeed=true)
Constructor.
Definition: RotationOnlySacProblem.hpp:84
rotation_t model_t
Definition: RotationOnlySacProblem.hpp:73
virtual ~RotationOnlySacProblem()
Definition: RotationOnlySacProblem.hpp:111
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition: RotationOnlySacProblem.hpp:75
adapter_t & _adapter
Definition: RotationOnlySacProblem.hpp:143
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::Matrix3d rotation_t
Definition: types.hpp:71
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...