41#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_
42#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTINONCENTRALRELATIVEPOSESACPROBLEM_HPP_
61namespace relative_pose
101 bool randomSeed =
true) :
107 std::vector<int> numberCorrespondences;
126 const std::vector<std::vector<int> > & indices,
127 bool asCentral =
false,
128 bool randomSeed =
true) :
146 const std::vector< std::vector<int> > & indices,
154 const std::vector<std::vector<int> > & indices,
155 std::vector<std::vector<double> > & scores)
const;
161 const std::vector<std::vector<int> > & inliers,
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition RelativeMultiAdapterBase.hpp:68
virtual size_t getNumberCorrespondences(size_t pairIndex) const =0
Retrieve the number of correspondences for a camera-pair.
virtual size_t getNumberPairs() const =0
Retrieve the number of camera-pairs.
Definition MultiSampleConsensusProblem.hpp:71
void setIndices(const std::vector< std::vector< int > > &indices)
Set the indices_ variable (see member-description).
MultiSampleConsensusProblem(bool randomSeed=true)
Contructor.
void setUniformIndices(std::vector< int > N)
Use this method if you want to use all samples.
Definition MultiNoncentralRelativePoseSacProblem.hpp:75
bool _asCentral
Definition MultiNoncentralRelativePoseSacProblem.hpp:176
enum opengv::sac_problems::relative_pose::MultiNoncentralRelativePoseSacProblem::Algorithm algorithm_t
MultiNoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< std::vector< int > > &indices, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition MultiNoncentralRelativePoseSacProblem.hpp:123
algorithm_t _algorithm
Definition MultiNoncentralRelativePoseSacProblem.hpp:174
transformation_t model_t
Definition MultiNoncentralRelativePoseSacProblem.hpp:78
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.
Algorithm
Definition MultiNoncentralRelativePoseSacProblem.hpp:84
adapter_t & _adapter
Definition MultiNoncentralRelativePoseSacProblem.hpp:172
opengv::relative_pose::RelativeMultiAdapterBase adapter_t
Definition MultiNoncentralRelativePoseSacProblem.hpp:80
virtual void optimizeModelCoefficients(const std::vector< std::vector< int > > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
virtual ~MultiNoncentralRelativePoseSacProblem()
Definition MultiNoncentralRelativePoseSacProblem.hpp:140
MultiNoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition MultiNoncentralRelativePoseSacProblem.hpp:99
virtual std::vector< int > getSampleSizes() const
See parent-class.
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Matrix< double, 3, 4 > transformation_t
Definition types.hpp:82
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...