opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem Class Reference

Provides functions for fitting a relative-pose model to a set of bearing-vector to point correspondences, using different algorithms (only central case). Used in a sample-consenus paradigm for rejecting outlier correspondences. More...

#include <FrameRelativePoseSacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem:

Public Types
typedef CentralRelativePoseSacProblem	base_t

Public Member Functions
	FrameRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm)
	FrameRelativePoseSacProblem. More...
	FrameRelativePoseSacProblem (adapter_t &adapter, algorithm_t algorithm, const std::vector< int > &indices)
	FrameRelativePoseSacProblem. More...
virtual	~FrameRelativePoseSacProblem ()
virtual void	getSelectedDistancesToModel (const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
	Compute the distances of all samples whith respect to given model coefficients. More...

Protected Attributes
opengv::relative_pose::FrameRelativeAdapter &	adapterDerived_
	The adapter holding the bearing, correspondences etc. More...

Detailed Description

Provides functions for fitting a relative-pose model to a set of bearing-vector to point correspondences, using different algorithms (only central case). Used in a sample-consenus paradigm for rejecting outlier correspondences.

Member Typedef Documentation

typedef CentralRelativePoseSacProblem opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::base_t

Constructor & Destructor Documentation

opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::FrameRelativePoseSacProblem ( adapter_t &  adapter, algorithm_t  algorithm  )

inline

FrameRelativePoseSacProblem.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm we want to use.

Warning

Only okvis::relative_pose::FrameRelativeAdapter supported.

opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::FrameRelativePoseSacProblem ( adapter_t &  adapter, algorithm_t  algorithm, const std::vector< int > &  indices  )

inline

FrameRelativePoseSacProblem.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[in]	algorithm	The algorithm we want to use.
[in]	indices	A vector of indices to be used from all available correspondences.

Warning

Only okvis::relative_pose::FrameRelativeAdapter supported.

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

inlinevirtual

Member Function Documentation

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

inlinevirtual

Compute the distances of all samples whith respect to given model coefficients.

Parameters

[in]	model	The coefficients of the model hypothesis.
[in]	indices	The indices of the samples of which we compute distances.
[out]	scores	The resulting distances of the selected samples. Low distances mean a good fit.

Member Data Documentation

opengv::relative_pose::FrameRelativeAdapter& opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::adapterDerived_

protected

The adapter holding the bearing, correspondences etc.

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The documentation for this class was generated from the following file:

• okvis_frontend/include/opengv/sac_problems/relative_pose/FrameRelativePoseSacProblem.hpp