39 #ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTICENTRALRELATIVEPOSESACPROBLEM_HPP_
40 #define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_MULTICENTRALRELATIVEPOSESACPROBLEM_HPP_
54 namespace sac_problems
59 namespace relative_pose
85 bool randomSeed =
true) :
90 std::vector<int> numberCorrespondences;
107 const std::vector<std::vector<int> > & indices,
108 int sampleSize,
bool randomSeed =
true) :
125 const std::vector< std::vector<int> > & indices,
133 const std::vector<std::vector<int> > & indices,
134 std::vector<std::vector<double> > & scores)
const;
140 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: MultiCentralRelativePoseSacProblem.hpp:70
virtual bool computeModelCoefficients(const std::vector< std::vector< int > > &indices, model_t &outModel) const
See parent-class.
int _sampleSize
Definition: MultiCentralRelativePoseSacProblem.hpp:153
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 ~MultiCentralRelativePoseSacProblem()
Definition: MultiCentralRelativePoseSacProblem.hpp:119
virtual std::vector< int > getSampleSizes() const
See parent-class.
MultiCentralRelativePoseSacProblem(adapter_t &adapter, const std::vector< std::vector< int > > &indices, int sampleSize, bool randomSeed=true)
Constructor.
Definition: MultiCentralRelativePoseSacProblem.hpp:105
virtual void optimizeModelCoefficients(const std::vector< std::vector< int > > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
MultiCentralRelativePoseSacProblem(adapter_t &adapter, int sampleSize, bool randomSeed=true)
Constructor.
Definition: MultiCentralRelativePoseSacProblem.hpp:84
transformations_t model_t
Definition: MultiCentralRelativePoseSacProblem.hpp:73
opengv::relative_pose::RelativeMultiAdapterBase adapter_t
Definition: MultiCentralRelativePoseSacProblem.hpp:75
adapter_t & _adapter
Definition: MultiCentralRelativePoseSacProblem.hpp:151
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
std::vector< transformation_t, Eigen::aligned_allocator< transformation_t > > transformations_t
Definition: types.hpp:86
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...