#include <MultiNoncentralRelativePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem:

Public Types
enum	Algorithm { SIXPT = 0, GE = 1, SEVENTEENPT = 2 }

typedef transformation_t	model_t

typedef opengv::relative_pose::RelativeMultiAdapterBase	adapter_t

typedef enum opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::Algorithm	algorithm_t

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

Public Member Functions
	MultiNoncentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
	Constructor. More...

	MultiNoncentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, const std::vector< std::vector< int > > &indices, bool asCentral=false, bool randomSeed=true)
	Constructor. More...

virtual	~MultiNoncentralRelativePoseSacProblem ()

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

algorithm_t	_algorithm

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

Functions for fitting a relative-pose model to a set of bearing-vector correspondences from a multi-camera system (non-central). Can switch back to central as well in case only one camera is present. Otherwise using seventeenpt [12]. Uses RelativeMultiAdapterBase for managing correspondence-lists between individual pairs of views, enabling homogeneous sampling over the views. Used in a random-sample paradigm for rejecting outlier correspondences.

Member Typedef Documentation

typedef opengv::relative_pose::RelativeMultiAdapterBase opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::adapter_t

The type of adapter that is expected by the methods

typedef enum opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::Algorithm opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::algorithm_t

The possible algorithms for solving this problem

typedef transformation_t opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::model_t

The model we are trying to fit (transformation)

Member Enumeration Documentation

enum opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::Algorithm

The possible algorithms for solving this problem

Constructor & Destructor Documentation

opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::MultiNoncentralRelativePoseSacProblem	(	adapter_t &	adapter,
		algorithm_t	algorithm,
		bool	asCentral = `false`,
		bool	randomSeed = `true`
	)

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm to use.
[in]	asCentral	Solve problem with only one camera?
[in]	randomSeed	Whether to seed the random number generator with the current time.

opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::MultiNoncentralRelativePoseSacProblem	(	adapter_t &	adapter,
		algorithm_t	algorithm,
		const std::vector< std::vector< int > > &	indices,
		bool	asCentral = `false`,
		bool	randomSeed = `true`
	)

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm to use.
[in]	indices	A vector of multi-indices to be used from all available correspondences.
[in]	asCentral	Solve problem with only one camera?
[in]	randomSeed	Whether to seed the random number generator with the current time.

virtual opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::~MultiNoncentralRelativePoseSacProblem ( )

inlinevirtual

Destructor.

Member Data Documentation

adapter_t& opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::_adapter

protected

The adapter holding all input data.

algorithm_t opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::_algorithm

protected

The algorithm we are using.

bool opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::_asCentral

protected

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

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

include/opengv/sac_problems/relative_pose/MultiNoncentralRelativePoseSacProblem.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Data Documentation