38#ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_NONCENTRALRELATIVEPOSESACPROBLEM_HPP_
58namespace relative_pose
95 bool randomSeed =
true) :
117 const std::vector<int> & indices,
118 bool asCentral =
false,
119 bool randomSeed =
true) :
137 const std::vector<int> & indices,
145 const std::vector<int> & indices,
146 std::vector<double> & scores)
const;
152 const std::vector<int> & inliers,
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition RelativeAdapterBase.hpp:64
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
Definition SampleConsensusProblem.hpp:68
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.
SampleConsensusProblem(bool randomSeed=true)
Contructor.
Definition NoncentralRelativePoseSacProblem.hpp:70
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition NoncentralRelativePoseSacProblem.hpp:75
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
algorithm_t _algorithm
Definition NoncentralRelativePoseSacProblem.hpp:165
Algorithm
Definition NoncentralRelativePoseSacProblem.hpp:79
transformation_t model_t
Definition NoncentralRelativePoseSacProblem.hpp:73
enum opengv::sac_problems::relative_pose::NoncentralRelativePoseSacProblem::Algorithm algorithm_t
NoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition NoncentralRelativePoseSacProblem.hpp:93
adapter_t & _adapter
Definition NoncentralRelativePoseSacProblem.hpp:163
virtual int getSampleSize() const
See parent-class.
NoncentralRelativePoseSacProblem(adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices, bool asCentral=false, bool randomSeed=true)
Constructor.
Definition NoncentralRelativePoseSacProblem.hpp:114
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
virtual ~NoncentralRelativePoseSacProblem()
Definition NoncentralRelativePoseSacProblem.hpp:131
bool _asCentral
Definition NoncentralRelativePoseSacProblem.hpp:167
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...