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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::FrameRelativeAdapteradapterDerived_
 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

Constructor & Destructor Documentation

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

FrameRelativePoseSacProblem.

Parameters
[in]adapterVisitor holding bearing vector correspondences etc.
[in]algorithmThe 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]adapterVisitor holding bearing vector correspondences etc.
[in]algorithmThe algorithm we want to use.
[in]indicesA 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]modelThe coefficients of the model hypothesis.
[in]indicesThe indices of the samples of which we compute distances.
[out]scoresThe 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.


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