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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::FrameRelativeAdapteradapterDerived_
 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

Constructor & Destructor Documentation

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

Constructor.

Parameters
[in]adapterVisitor 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]adapterVisitor holding bearing vector correspondences etc.
[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::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]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::FrameRotationOnlySacProblem::adapterDerived_
protected

The adapter holding the bearing, correspondences etc.


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