#include <MultiCentralRelativePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem:

Public Types
typedef transformations_t	model_t
typedef opengv::relative_pose::RelativeMultiAdapterBase	adapter_t
Public Types inherited from opengv::sac::MultiSampleConsensusProblem< transformations_t >
typedef transformations_t	model_t

Public Member Functions
	MultiCentralRelativePoseSacProblem (adapter_t &adapter, int sampleSize, bool randomSeed=true)
	Constructor.
	MultiCentralRelativePoseSacProblem (adapter_t &adapter, const std::vector< std::vector< int > > &indices, int sampleSize, bool randomSeed=true)
	Constructor.
virtual	~MultiCentralRelativePoseSacProblem ()
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< transformations_t >
	MultiSampleConsensusProblem (bool randomSeed=true)
	Contructor.
virtual	~MultiSampleConsensusProblem ()
	Destructor.
virtual void	getSamples (int &iterations, std::vector< std::vector< int > > &samples)
	Get samples for hypothesis generation.
virtual bool	isSampleGood (const std::vector< std::vector< int > > &sample) const
	Check if a set of samples for model generation is degenerate.
std::shared_ptr< std::vector< std::vector< int > > >	getIndices () const
	Get a pointer to the vector of multi-indices used.
void	drawIndexSample (std::vector< std::vector< int > > &sample)
	Sub-function for getting samples for hypothesis generation.
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.
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.
virtual int	countWithinDistance (const model_t &model_coefficients, const double threshold)
	Count all the inlier samples whith respect to given model coefficients.
void	setIndices (const std::vector< std::vector< int > > &indices)
	Set the indices_ variable (see member-description).
void	setUniformIndices (std::vector< int > N)
	Use this method if you want to use all samples.
int	rnd ()
	Get a random number.

Protected Attributes
adapter_t &	_adapter
int	_sampleSize

Additional Inherited Members
Public Attributes inherited from opengv::sac::MultiSampleConsensusProblem< transformations_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 multi relative-pose model to sets of bearing-vector correspondences between multiple viewpoints. Exploits mutual agreement. Used within a multi random-sample paradigm for rejecting outlier correspondences. Experimental! Currently using eightpt [9,10].

Member Typedef Documentation

◆ adapter_t

typedef opengv::relative_pose::RelativeMultiAdapterBase opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::adapter_t

The type of adapter that is expected by the methods

◆ model_t

typedef transformations_t opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::model_t

The model we are trying to fit (multiple transformations)

Constructor & Destructor Documentation

◆ MultiCentralRelativePoseSacProblem() [1/2]

opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::MultiCentralRelativePoseSacProblem	(	adapter_t &	adapter,
		int	sampleSize,
		bool	randomSeed = true )

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	sampleSize	The number of samples for each "sub"-hypothesis.
[in]	randomSeed	Whether to seed the random number generator with the current time.

◆ MultiCentralRelativePoseSacProblem() [2/2]

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

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	indices	A vector of multi-indices to be used from all available correspondences.
[in]	sampleSize	The number of samples for each "sub"-hypothesis.
[in]	randomSeed	Whether to seed the random number generator with the current time.

◆ ~MultiCentralRelativePoseSacProblem()

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

inlinevirtual

Destructor.

Member Function Documentation

◆ computeModelCoefficients()

virtual bool opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::computeModelCoefficients	(	const std::vector< std::vector< int > > &	indices,
		model_t &	outModel ) const

virtual

See parent-class.

Implements opengv::sac::MultiSampleConsensusProblem< transformations_t >.

◆ getSampleSizes()

virtual std::vector< int > opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::getSampleSizes ( ) const

virtual

See parent-class.

Implements opengv::sac::MultiSampleConsensusProblem< transformations_t >.

◆ getSelectedDistancesToModel()

virtual void opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::getSelectedDistancesToModel	(	const model_t &	model,
		const std::vector< std::vector< int > > &	indices,
		std::vector< std::vector< double > > &	scores ) const

virtual

See parent-class.

Implements opengv::sac::MultiSampleConsensusProblem< transformations_t >.

◆ optimizeModelCoefficients()

virtual void opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::optimizeModelCoefficients	(	const std::vector< std::vector< int > > &	inliers,
		const model_t &	model,
		model_t &	optimized_model )

virtual

See parent-class.

Implements opengv::sac::MultiSampleConsensusProblem< transformations_t >.

Member Data Documentation

◆ _adapter

adapter_t& opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::_adapter

protected

The adapter holding all input data.

◆ _sampleSize

int opengv::sac_problems::relative_pose::MultiCentralRelativePoseSacProblem::_sampleSize

protected

The number of samples for each "sub"-hypothesis.

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

include/opengv/sac_problems/relative_pose/MultiCentralRelativePoseSacProblem.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ adapter_t

◆ model_t

Constructor & Destructor Documentation

◆ MultiCentralRelativePoseSacProblem() [1/2]

◆ MultiCentralRelativePoseSacProblem() [2/2]

◆ ~MultiCentralRelativePoseSacProblem()

Member Function Documentation

◆ computeModelCoefficients()

◆ getSampleSizes()

◆ getSelectedDistancesToModel()

◆ optimizeModelCoefficients()

Member Data Documentation

◆ _adapter

◆ _sampleSize