38#ifndef OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
39#define OPENGV_SAC_PROBLEMS_POINT_CLOUD_POINTCLOUDSACPROBLEM_HPP_
43#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
99 const std::vector<int> & indices,
100 bool randomSeed =
true) :
116 const std::vector<int> & indices,
124 const std::vector<int> & indices,
125 std::vector<double> & scores)
const;
131 const std::vector<int> & inliers,
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition PointCloudAdapterBase.hpp:62
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 PointCloudSacProblem.hpp:68
virtual int getSampleSize() const
See parent-class.
virtual ~PointCloudSacProblem()
Definition PointCloudSacProblem.hpp:110
adapter_t & _adapter
Definition PointCloudSacProblem.hpp:142
transformation_t model_t
Definition PointCloudSacProblem.hpp:71
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
PointCloudSacProblem(adapter_t &adapter, bool randomSeed=true)
Constructor.
Definition PointCloudSacProblem.hpp:82
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
PointCloudSacProblem(adapter_t &adapter, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition PointCloudSacProblem.hpp:97
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
opengv::point_cloud::PointCloudAdapterBase adapter_t
Definition PointCloudSacProblem.hpp:73
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...