NoncentralRelativePoseSacProblem.hpp

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

#include <opengv/sac/SampleConsensusProblem.hpp>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>

namespace opengv
{
namespace sac_problems
{
namespace relative_pose
{

class NoncentralRelativePoseSacProblem :
    public sac::SampleConsensusProblem<transformation_t>
{
public:
  typedef transformation_t model_t;
  typedef opengv::relative_pose::RelativeAdapterBase adapter_t;

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

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

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

  virtual ~NoncentralRelativePoseSacProblem() {};

  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;
  bool _asCentral;
};

}
}
}

#endif  /* OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_ */