OpenGV
A library for solving calibrated central and non-central geometric vision problems
opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem Class Reference

#include <AbsolutePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem:
opengv::sac::SampleConsensusProblem< transformation_t >

Public Types

enum  Algorithm {
  TWOPT = 0, KNEIP = 1, GAO = 2, EPNP = 3,
  GP3P = 4
}
 
typedef transformation_t model_t
 
typedef opengv::absolute_pose::AbsoluteAdapterBase adapter_t
 
typedef enum opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::Algorithm algorithm_t
 
- Public Types inherited from opengv::sac::SampleConsensusProblem< transformation_t >
typedef transformation_t model_t
 

Public Member Functions

 AbsolutePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, bool randomSeed=true)
 Constructor. More...
 
 AbsolutePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool randomSeed=true)
 Constructor. More...
 
virtual ~AbsolutePoseSacProblem ()
 
virtual bool computeModelCoefficients (const std::vector< int > &indices, model_t &outModel) const
 See parent-class.
 
virtual void getSelectedDistancesToModel (const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
 See parent-class.
 
virtual void optimizeModelCoefficients (const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
 See parent-class.
 
virtual int getSampleSize () const
 See parent-class.
 
- Public Member Functions inherited from opengv::sac::SampleConsensusProblem< transformation_t >
 SampleConsensusProblem (bool randomSeed=true)
 Contructor. More...
 
virtual ~SampleConsensusProblem ()
 Destructor.
 
virtual void getSamples (int &iterations, std::vector< int > &samples)
 Get samples for hypothesis generation. More...
 
virtual bool isSampleGood (const std::vector< int > &sample) const
 Check if a set of samples for model generation is degenerate. More...
 
std::shared_ptr< std::vector< int > > getIndices () const
 Get a pointer to the vector of indices used. More...
 
void drawIndexSample (std::vector< int > &sample)
 Sub-function for getting samples for hypothesis generation. More...
 
virtual void getDistancesToModel (const model_t &model_coefficients, std::vector< double > &distances)
 Compute the distances of all samples which respect to given model coefficients. More...
 
virtual void selectWithinDistance (const model_t &model_coefficients, const double threshold, std::vector< int > &inliers)
 Select all the inlier samples whith respect to given model coefficients. More...
 
virtual int countWithinDistance (const model_t &model_coefficients, const double threshold)
 Count all the inlier samples whith respect to given model coefficients. More...
 
void setIndices (const std::vector< int > &indices)
 Set the indices_ variable (see member-description). More...
 
void setUniformIndices (int N)
 Use this method if you want to use all samples. More...
 
int rnd ()
 Get a random number. More...
 

Protected Attributes

adapter_t_adapter
 
algorithm_t _algorithm
 

Additional Inherited Members

- Public Attributes inherited from opengv::sac::SampleConsensusProblem< transformation_t >
int max_sample_checks_
 
std::shared_ptr< std::vector< int > > indices_
 
std::vector< int > shuffled_indices_
 
std::mt19937 rng_alg_
 std-based random number generator algorithm.
 
std::shared_ptr< std::uniform_int_distribution<> > rng_dist_
 std-based random number generator distribution.
 
std::shared_ptr< std::function< int()> > rng_gen_
 std-based random number generator.
 

Detailed Description

Provides functions for fitting an absolute-pose model to a set of bearing-vector to point correspondences, using different algorithms (central and non-central ones). Used in a sample-consenus paradigm for rejecting outlier correspondences.

Member Typedef Documentation

The model we are trying to fit (transformation)

Member Enumeration Documentation

The possible algorithms for solving this problem

Constructor & Destructor Documentation

opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::AbsolutePoseSacProblem ( adapter_t adapter,
algorithm_t  algorithm,
bool  randomSeed = true 
)
inline

Constructor.

Parameters
[in]adapterVisitor holding bearing vectors, world points, etc.
[in]algorithmThe algorithm we want to use.
[in]randomSeedWhether to seed the random number generator with the current time.
opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::AbsolutePoseSacProblem ( adapter_t adapter,
algorithm_t  algorithm,
const std::vector< int > &  indices,
bool  randomSeed = true 
)
inline

Constructor.

Parameters
[in]adapterVisitor holding bearing vectors, world points, etc.
[in]algorithmThe algorithm we want to use.
[in]indicesA vector of indices to be used from all available correspondences.
[in]randomSeedWhether to seed the random number generator with the current time.
virtual opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::~AbsolutePoseSacProblem ( )
inlinevirtual

Destructor.

Member Data Documentation

adapter_t& opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::_adapter
protected

The adapter holding all input data

algorithm_t opengv::sac_problems::absolute_pose::AbsolutePoseSacProblem::_algorithm
protected

The algorithm we are using


The documentation for this class was generated from the following file: