MultiNoncentralRelativePoseSacProblem.hpp

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

#include <opengv/sac/MultiSampleConsensusProblem.hpp>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeMultiAdapterBase.hpp>

namespace opengv
{
namespace sac_problems
{
namespace relative_pose
{

class MultiNoncentralRelativePoseSacProblem :
    public sac::MultiSampleConsensusProblem< transformation_t >
{
public:
  typedef transformation_t model_t;
  typedef opengv::relative_pose::RelativeMultiAdapterBase adapter_t;

  typedef enum Algorithm
  {
    SIXPT = 0,      // [16]
    GE = 1,         // []
    SEVENTEENPT = 2 // [12]
  } algorithm_t;


  MultiNoncentralRelativePoseSacProblem(
      adapter_t & adapter, algorithm_t algorithm, bool asCentral = false,
      bool randomSeed = true) :
      sac::MultiSampleConsensusProblem<model_t> (randomSeed),
      _adapter(adapter),
      _algorithm(algorithm),
      _asCentral(asCentral)
  {
    std::vector<int> numberCorrespondences;
    for(size_t i = 0; i < adapter.getNumberPairs(); i++)
      numberCorrespondences.push_back(adapter.getNumberCorrespondences(i));
    setUniformIndices(numberCorrespondences);
  };

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

  virtual ~MultiNoncentralRelativePoseSacProblem() {};

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

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

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

  virtual std::vector<int> getSampleSizes() const;

protected:
  adapter_t & _adapter;
  algorithm_t _algorithm;
  bool _asCentral;
};

}
}
}

#endif  //#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_