AbsolutePoseSacProblem.hpp

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 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
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#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_
#define OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_

#include <opengv/sac/SampleConsensusProblem.hpp>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>

namespace opengv
{
namespace sac_problems
{
namespace absolute_pose
{

class AbsolutePoseSacProblem :
    public sac::SampleConsensusProblem<transformation_t>
{
public:
  typedef transformation_t model_t;
  typedef opengv::absolute_pose::AbsoluteAdapterBase adapter_t;

  typedef enum Algorithm
  {
    TWOPT = 0,     // central, with rotation prior
    KNEIP = 1,     // central     [1]
    GAO = 2,       // central     [2]
    EPNP = 3,      // central     [4]
    GP3P = 4       // non-central [3]
  } algorithm_t;

  AbsolutePoseSacProblem(adapter_t & adapter, algorithm_t algorithm,
      bool randomSeed = true) :
      sac::SampleConsensusProblem<model_t> (randomSeed),
      _adapter(adapter),
      _algorithm(algorithm)
  {
    setUniformIndices(adapter.getNumberCorrespondences());
  };

  AbsolutePoseSacProblem(
      adapter_t & adapter,
      algorithm_t algorithm,
      const std::vector<int> & indices,
      bool randomSeed = true) :
      sac::SampleConsensusProblem<model_t> (randomSeed),
      _adapter(adapter),
      _algorithm(algorithm)
  {
    setIndices(indices);
  };

  virtual ~AbsolutePoseSacProblem() {};

  virtual bool computeModelCoefficients(
      const std::vector<int> & indices,
      model_t & outModel) const;

  virtual void getSelectedDistancesToModel(
      const model_t & model,
      const std::vector<int> & indices,
      std::vector<double> & scores) const;

  virtual void optimizeModelCoefficients(
      const std::vector<int> & inliers,
      const model_t & model,
      model_t & optimized_model);

  virtual int getSampleSize() const;

protected:
  adapter_t & _adapter;
  algorithm_t _algorithm;
};

}
}
}

#endif  //#ifndef OPENGV_SAC_PROBLEMS_ABSOLUTE_POSE_ABSOLUTEPOSESACPROBLEM_HPP_