OpenGV
A library for solving calibrated central and non-central geometric vision problems
MultiSampleConsensusProblem.hpp
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30
31//Note: has been derived from ROS
32
43#ifndef OPENGV_SAC_MULTISAMPLECONSENSUSPROBLEM_HPP_
44#define OPENGV_SAC_MULTISAMPLECONSENSUSPROBLEM_HPP_
45
46#include <stdlib.h>
47#include <stdio.h>
48#include <memory>
49#include <functional>
50#include <random>
51#include <ctime>
52
56namespace opengv
57{
61namespace sac
62{
63
69template<typename MODEL_T>
71{
72public:
74 typedef MODEL_T model_t;
75
81 MultiSampleConsensusProblem( bool randomSeed = true );
86
93 virtual void getSamples(
94 int &iterations,
95 std::vector< std::vector<int> > &samples );
96
103 virtual bool isSampleGood(
104 const std::vector< std::vector<int> > & sample ) const;
105
110 std::shared_ptr< std::vector< std::vector<int> > > getIndices() const;
111
116 void drawIndexSample( std::vector< std::vector<int> > & sample );
117
123 virtual std::vector<int> getSampleSizes() const = 0;
124
133 const std::vector< std::vector<int> > & indices,
134 model_t & outModel) const = 0;
135
144 const std::vector< std::vector<int> > & inliers,
145 const model_t & model_coefficients,
146 model_t & optimized_coefficients ) = 0;
147
157 const model_t & model,
158 const std::vector< std::vector<int> > & indices,
159 std::vector< std::vector<double> > & scores ) const = 0;
160
169 const model_t & model_coefficients,
170 std::vector< std::vector<double> > &distances );
171
181 const model_t &model_coefficients,
182 const double threshold,
183 std::vector< std::vector<int> > &inliers );
184
194 const model_t &model_coefficients,
195 const double threshold);
196
201 void setIndices(const std::vector< std::vector<int> > & indices);
202
207 void setUniformIndices(std::vector<int> N);
208
213 int rnd();
214
215
216
219
224 std::shared_ptr< std::vector< std::vector<int> > > indices_;
225
227 std::vector< std::vector<int> > shuffled_indices_;
228
230 std::mt19937 rng_alg_;
231
233 std::shared_ptr< std::uniform_int_distribution<> > rng_dist_;
234
236 std::shared_ptr< std::function<int()> > rng_gen_;
237
238};
239
240} // namespace sac
241} // namespace opengv
242
243#include "implementation/MultiSampleConsensusProblem.hpp"
244
245#endif /* OPENGV_SAC_MULTISAMPLECONSENSUS_PROBLEM_HPP_ */
Definition: MultiSampleConsensusProblem.hpp:71
virtual void optimizeModelCoefficients(const std::vector< std::vector< int > > &inliers, const model_t &model_coefficients, model_t &optimized_coefficients)=0
Refine the model coefficients over a given set (inliers). Needs implementation in the child-class.
void setIndices(const std::vector< std::vector< int > > &indices)
Set the indices_ variable (see member-description).
virtual void selectWithinDistance(const model_t &model_coefficients, const double threshold, std::vector< std::vector< int > > &inliers)
Select all the inlier samples whith respect to given model coefficients.
std::shared_ptr< std::uniform_int_distribution<> > rng_dist_
std-based random number generator distribution.
Definition: MultiSampleConsensusProblem.hpp:233
int max_sample_checks_
Definition: MultiSampleConsensusProblem.hpp:218
virtual bool isSampleGood(const std::vector< std::vector< int > > &sample) const
Check if a set of samples for model generation is degenerate.
MultiSampleConsensusProblem(bool randomSeed=true)
Contructor.
void setUniformIndices(std::vector< int > N)
Use this method if you want to use all samples.
virtual void getSelectedDistancesToModel(const model_t &model, const std::vector< std::vector< int > > &indices, std::vector< std::vector< double > > &scores) const =0
Compute the distances of all samples whith respect to given model coefficients. Needs implementation ...
virtual void getSamples(int &iterations, std::vector< std::vector< int > > &samples)
Get samples for hypothesis generation.
std::shared_ptr< std::vector< std::vector< int > > > getIndices() const
Get a pointer to the vector of multi-indices used.
virtual std::vector< int > getSampleSizes() const =0
Get the number of samples needed for a hypothesis generation. Needs implementation in the child class...
std::mt19937 rng_alg_
std-based random number generator algorithm.
Definition: MultiSampleConsensusProblem.hpp:230
virtual ~MultiSampleConsensusProblem()
Destructor.
std::vector< std::vector< int > > shuffled_indices_
Definition: MultiSampleConsensusProblem.hpp:227
void drawIndexSample(std::vector< std::vector< int > > &sample)
Sub-function for getting samples for hypothesis generation.
std::shared_ptr< std::vector< std::vector< int > > > indices_
Definition: MultiSampleConsensusProblem.hpp:224
virtual void getDistancesToModel(const model_t &model_coefficients, std::vector< std::vector< double > > &distances)
Compute the distances of all samples which respect to given model coefficients.
virtual int countWithinDistance(const model_t &model_coefficients, const double threshold)
Count all the inlier samples whith respect to given model coefficients.
MODEL_T model_t
Definition: MultiSampleConsensusProblem.hpp:74
virtual bool computeModelCoefficients(const std::vector< std::vector< int > > &indices, model_t &outModel) const =0
Compute a model from a set of samples. Needs implementation in the child-class.
std::shared_ptr< std::function< int()> > rng_gen_
std-based random number generator.
Definition: MultiSampleConsensusProblem.hpp:236
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48