39 #ifndef OPENGV_SAC_PROBLEMS_RELATIVE_POSE_TRANSLATIONONLYSACPROBLEM_HPP_
40 #define OPENGV_SAC_PROBLEMS_RELATIVE_POSE_TRANSLATIONONLYSACPROBLEM_HPP_
54 namespace sac_problems
59 namespace relative_pose
100 const std::vector<int> & indices,
101 bool randomSeed =
true) :
117 const std::vector<int> & indices,
125 const std::vector<int> & indices,
126 std::vector<double> & scores)
const;
132 const std::vector<int> & inliers,
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Basis-class for Sample-consensus problems. Contains declarations for the three basic functions of a s...
Definition: RelativeAdapterBase.hpp:64
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
Definition: SampleConsensusProblem.hpp:68
void setIndices(const std::vector< int > &indices)
Set the indices_ variable (see member-description).
void setUniformIndices(int N)
Use this method if you want to use all samples.
SampleConsensusProblem(bool randomSeed=true)
Contructor.
Definition: TranslationOnlySacProblem.hpp:70
virtual ~TranslationOnlySacProblem()
Definition: TranslationOnlySacProblem.hpp:111
virtual int getSampleSize() const
See parent-class.
opengv::relative_pose::RelativeAdapterBase adapter_t
Definition: TranslationOnlySacProblem.hpp:75
virtual bool computeModelCoefficients(const std::vector< int > &indices, model_t &outModel) const
See parent-class.
transformation_t model_t
Definition: TranslationOnlySacProblem.hpp:73
adapter_t & _adapter
Definition: TranslationOnlySacProblem.hpp:143
virtual void optimizeModelCoefficients(const std::vector< int > &inliers, const model_t &model, model_t &optimized_model)
See parent-class.
TranslationOnlySacProblem(adapter_t &adapter, const std::vector< int > &indices, bool randomSeed=true)
Constructor.
Definition: TranslationOnlySacProblem.hpp:98
TranslationOnlySacProblem(adapter_t &adapter, bool randomSeed=true)
Constructor.
Definition: TranslationOnlySacProblem.hpp:83
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< int > &indices, std::vector< double > &scores) const
See parent-class.
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
Eigen::Matrix< double, 3, 4 > transformation_t
Definition: types.hpp:82
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...