opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem Class Reference

#include <CentralRelativePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem:

Public Types
enum	Algorithm { STEWENIUS = 0, NISTER = 1, SEVENPT = 2, EIGHTPT = 3 }
typedef transformation_t	model_t
typedef opengv::relative_pose::RelativeAdapterBase	adapter_t
typedef enum opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::Algorithm	algorithm_t
Public Types inherited from opengv::sac::SampleConsensusProblem< transformation_t >
typedef transformation_t	model_t

Public Member Functions
	CentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, bool randomSeed=true)
	Constructor. More...
	CentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool randomSeed=true)
	Constructor. More...
virtual	~CentralRelativePoseSacProblem ()
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 (only central case). Used in a sample-consenus paradigm for rejecting outlier correspondences.

Member Typedef Documentation

typedef opengv::relative_pose::RelativeAdapterBase opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::adapter_t

The type of adapter that is expected by the methods

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

The possible algorithms for solving this problem

typedef transformation_t opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::model_t

The model we are trying to fit (transformation)

Member Enumeration Documentation

enum opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::Algorithm

The possible algorithms for solving this problem

Constructor & Destructor Documentation

opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::CentralRelativePoseSacProblem ( adapter_t &  adapter, algorithm_t  algorithm, bool  randomSeed = true  )

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm we want to use.
[in]	randomSeed	Whether to seed the random number generator with the current time.

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

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm we want to use.
[in]	indices	A vector of indices to be used from all available correspondences.
[in]	randomSeed	Whether to seed the random number generator with the current time.

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

inlinevirtual

Destructor.

Member Data Documentation

adapter_t& opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::_adapter

protected

The adapter holding all input data.

algorithm_t opengv::sac_problems::relative_pose::CentralRelativePoseSacProblem::_algorithm

protected

The algorithm we are using.

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

• include/opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp