#include <NoncentralRelativePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem:

Public Types
enum	Algorithm { SIXPT = 0 , GE = 1 , SEVENTEENPT = 2 }
typedef transformation_t	model_t
typedef opengv::relative_pose::RelativeAdapterBase	adapter_t
typedef enum opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::Algorithm	algorithm_t
Public Types inherited from opengv::sac::SampleConsensusProblem< transformation_t >
typedef transformation_t	model_t

Public Member Functions
	NoncentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
	Constructor.
	NoncentralRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool asCentral=false, bool randomSeed=true)
	Constructor.
virtual	~NoncentralRelativePoseSacProblem ()
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.
virtual	~SampleConsensusProblem ()
	Destructor.
virtual void	getSamples (int &iterations, std::vector< int > &samples)
	Get samples for hypothesis generation.
virtual bool	isSampleGood (const std::vector< int > &sample) const
	Check if a set of samples for model generation is degenerate.
std::shared_ptr< std::vector< int > >	getIndices () const
	Get a pointer to the vector of indices used.
void	drawIndexSample (std::vector< int > &sample)
	Sub-function for getting samples for hypothesis generation.
virtual void	getDistancesToModel (const model_t &model_coefficients, 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< 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< int > &indices)
	Set the indices_ variable (see member-description).
void	setUniformIndices (int N)
	Use this method if you want to use all samples.
int	rnd ()
	Get a random number.

Protected Attributes
adapter_t &	_adapter
algorithm_t	_algorithm
bool	_asCentral

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

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]. Used with a random-sample paradigm for rejecting outlier-correspondences.

Member Typedef Documentation

◆ adapter_t

typedef opengv::relative_pose::RelativeAdapterBase opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::adapter_t

The type of adapter that is expected by the methods

◆ algorithm_t

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

The possible algorithms for solving this problem

◆ model_t

typedef transformation_t opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::model_t

The model we are trying to fit (transformation)

Member Enumeration Documentation

◆ Algorithm

enum opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::Algorithm

The possible algorithms for solving this problem

Constructor & Destructor Documentation

◆ NoncentralRelativePoseSacProblem() [1/2]

opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::NoncentralRelativePoseSacProblem	(	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.

◆ NoncentralRelativePoseSacProblem() [2/2]

opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::NoncentralRelativePoseSacProblem	(	adapter_t &	adapter,
		algorithm_t	algorithm,
		const 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 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.

◆ ~NoncentralRelativePoseSacProblem()

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

inlinevirtual

Destructor.

Member Function Documentation

◆ computeModelCoefficients()

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

virtual

See parent-class.

Implements opengv::sac::SampleConsensusProblem< transformation_t >.

◆ getSampleSize()

virtual int opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::getSampleSize ( ) const

virtual

See parent-class.

Implements opengv::sac::SampleConsensusProblem< transformation_t >.

◆ getSelectedDistancesToModel()

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

virtual

See parent-class.

Implements opengv::sac::SampleConsensusProblem< transformation_t >.

◆ optimizeModelCoefficients()

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

virtual

See parent-class.

Implements opengv::sac::SampleConsensusProblem< transformation_t >.

Member Data Documentation

◆ _adapter

adapter_t& opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::_adapter

protected

The adapter holding all input data.

◆ _algorithm

algorithm_t opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::_algorithm

protected

The algorithm we are using.

◆ _asCentral

bool opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::_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/NoncentralRelativePoseSacProblem.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ adapter_t

◆ algorithm_t

◆ model_t

Member Enumeration Documentation

◆ Algorithm

Constructor & Destructor Documentation

◆ NoncentralRelativePoseSacProblem() [1/2]

◆ NoncentralRelativePoseSacProblem() [2/2]

◆ ~NoncentralRelativePoseSacProblem()

Member Function Documentation

◆ computeModelCoefficients()

◆ getSampleSize()

◆ getSelectedDistancesToModel()

◆ optimizeModelCoefficients()

Member Data Documentation

◆ _adapter

◆ _algorithm

◆ _asCentral