opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem Class Reference

#include <MultiNoncentralAbsolutePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem:

Public Types
typedef transformation_t	model_t
typedef opengv::absolute_pose::AbsoluteMultiAdapterBase	adapter_t
Public Types inherited from opengv::sac::MultiSampleConsensusProblem< transformation_t >
typedef transformation_t	model_t

Public Member Functions
	MultiNoncentralAbsolutePoseSacProblem (adapter_t &adapter, bool asCentral=false)
	Constructor. More...
	MultiNoncentralAbsolutePoseSacProblem (adapter_t &adapter, const std::vector< std::vector< int > > &indices, bool asCentral=false)
	Constructor. More...
virtual	~MultiNoncentralAbsolutePoseSacProblem ()
virtual bool	computeModelCoefficients (const std::vector< std::vector< int > > &indices, model_t &outModel) const
	See parent-class.
virtual void	getSelectedDistancesToModel (const model_t &model, const std::vector< std::vector< int > > &indices, std::vector< std::vector< double > > &scores) const
	See parent-class.
virtual void	optimizeModelCoefficients (const std::vector< std::vector< int > > &inliers, const model_t &model, model_t &optimized_model)
	See parent-class.
virtual std::vector< int >	getSampleSizes () const
	See parent-class.
Public Member Functions inherited from opengv::sac::MultiSampleConsensusProblem< transformation_t >
	MultiSampleConsensusProblem (bool randomSeed=true)
	Contructor. More...
virtual	~MultiSampleConsensusProblem ()
	Destructor.
virtual void	getSamples (int &iterations, std::vector< std::vector< int > > &samples)
	Get samples for hypothesis generation. More...
virtual bool	isSampleGood (const std::vector< std::vector< int > > &sample) const
	Check if a set of samples for model generation is degenerate. More...
std::shared_ptr< std::vector< std::vector< int > > >	getIndices () const
	Get a pointer to the vector of multi-indices used. More...
void	drawIndexSample (std::vector< std::vector< int > > &sample)
	Sub-function for getting samples for hypothesis generation. More...
virtual void	getDistancesToModel (const model_t &model_coefficients, std::vector< 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< 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< std::vector< int > > &indices)
	Set the indices_ variable (see member-description). More...
void	setUniformIndices (std::vector< 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
bool	_asCentral

Additional Inherited Members
Public Attributes inherited from opengv::sac::MultiSampleConsensusProblem< transformation_t >
int	max_sample_checks_
std::shared_ptr< std::vector< std::vector< int > > >	indices_
std::vector< 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

typedef opengv::absolute_pose::AbsoluteMultiAdapterBase opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::adapter_t

The type of adapter that is expected by the methods

typedef transformation_t opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::model_t

The model we are trying to fit (transformation)

Constructor & Destructor Documentation

opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::MultiNoncentralAbsolutePoseSacProblem ( adapter_t &  adapter, bool  asCentral = false  )

inline

Constructor.

Parameters

[in]

adapter

Visitor holding bearing vectors, world points, etc.

opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::MultiNoncentralAbsolutePoseSacProblem ( adapter_t &  adapter, const std::vector< std::vector< int > > &  indices, bool  asCentral = false  )

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vectors, world points, etc.
[in]	indices	A vector of indices to be used from all available correspondences.

virtual opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::~MultiNoncentralAbsolutePoseSacProblem ( )

inlinevirtual

Destructor.

Member Data Documentation

adapter_t& opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::_adapter

protected

The adapter holding all input data

bool opengv::sac_problems::absolute_pose::MultiNoncentralAbsolutePoseSacProblem::_asCentral

protected

Use the central algorithm? (only one camera?).

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

• include/opengv/sac_problems/absolute_pose/MultiNoncentralAbsolutePoseSacProblem.hpp