opengv::sac_problems::relative_pose::FrameRotationOnlySacProblem Class Reference

Functions for fitting a rotation-only model to a set of bearing-vector correspondences (using twopt_rotationOnly). The viewpoints are assumed to be separated by rotation only. Used within a random-sample paradigm for rejecting outlier correspondences. More...

#include <FrameRotationOnlySacProblem.hpp>

Inheritance diagram for opengv::sac_problems::relative_pose::FrameRotationOnlySacProblem:

Public Types
typedef RotationOnlySacProblem	base_t

Public Member Functions
	FrameRotationOnlySacProblem (adapter_t &adapter)
	Constructor. More...
	FrameRotationOnlySacProblem (adapter_t &adapter, const std::vector< int > &indices)
	Constructor. More...
virtual	~FrameRotationOnlySacProblem ()
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

Functions for fitting a rotation-only model to a set of bearing-vector correspondences (using twopt_rotationOnly). The viewpoints are assumed to be separated by rotation only. Used within a random-sample paradigm for rejecting outlier correspondences.

Member Typedef Documentation

typedef RotationOnlySacProblem opengv::sac_problems::relative_pose::FrameRotationOnlySacProblem::base_t

Constructor & Destructor Documentation

opengv::sac_problems::relative_pose::FrameRotationOnlySacProblem::FrameRotationOnlySacProblem ( adapter_t &  adapter )

inline

Constructor.

Parameters

[in]

adapter

Visitor holding bearing vector correspondences etc.

Warning

Only okvis::relative_pose::FrameRelativeAdapter supported.

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

inline

Constructor.

Parameters

[in]	adapter	Visitor holding bearing vector correspondences etc.
[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::FrameRotationOnlySacProblem::~FrameRotationOnlySacProblem ( )

inlinevirtual

Member Function Documentation

virtual void opengv::sac_problems::relative_pose::FrameRotationOnlySacProblem::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::FrameRotationOnlySacProblem::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/FrameRotationOnlySacProblem.hpp