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.
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#include <FrameRelativePoseSacProblem.hpp>
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typedef
CentralRelativePoseSacProblem | base_t |
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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.
opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::FrameRelativePoseSacProblem |
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adapter_t & |
adapter, |
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algorithm_t |
algorithm |
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inline |
FrameRelativePoseSacProblem.
- Parameters
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[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 |
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adapter_t & |
adapter, |
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algorithm_t |
algorithm, |
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const std::vector< int > & |
indices |
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) |
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inline |
FrameRelativePoseSacProblem.
- Parameters
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[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 |
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inlinevirtual |
virtual void opengv::sac_problems::relative_pose::FrameRelativePoseSacProblem::getSelectedDistancesToModel |
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const model_t & |
model, |
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const std::vector< int > & |
indices, |
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std::vector< double > & |
scores |
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inlinevirtual |
Compute the distances of all samples whith respect to given model coefficients.
- Parameters
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[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. |
The adapter holding the bearing, correspondences etc.
The documentation for this class was generated from the following file: