/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vector correspondences etc.
* \param[in] sampleSize Number of correspondences used for generating hypotheses.
* \param[in] randomSeed Whether to seed the random number generator with
* the current time.
*/
EigensolverSacProblem(adapter_t & adapter, size_t sampleSize,
bool randomSeed = true) :
sac::SampleConsensusProblem<model_t> (randomSeed),
_adapter(adapter),
_sampleSize(sampleSize)
{
setUniformIndices(adapter.getNumberCorrespondences());
};
/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vectors, world points, etc.
* \param[in] algorithm The algorithm we want to use.
* \param[in] randomSeed Whether to seed the random number generator with
* the current time.
*/
AbsolutePoseSacProblem(adapter_t & adapter, algorithm_t algorithm,
bool randomSeed = true) :
sac::SampleConsensusProblem<model_t> (randomSeed),
_adapter(adapter),
_algorithm(algorithm)
{
setUniformIndices(adapter.getNumberCorrespondences());
};
/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vector correspondences etc.
* \param[in] algorithm The algorithm to use.
* \param[in] asCentral Solve problem with only one camera?
*/
NoncentralRelativePoseSacProblem(
adapter_t & adapter, algorithm_t algorithm, bool asCentral = false ) :
SampleConsensusProblem<model_t> (),
_adapter(adapter),
_algorithm(algorithm),
_asCentral(asCentral)
{
setUniformIndices(adapter.getNumberCorrespondences());
};
/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vector correspondences etc.
* \param[in] asCentral Solve problem with only one camera?
*/
MultiNoncentralRelativePoseSacProblem(adapter_t & adapter, bool asCentral = false ) :
MultiSampleConsensusProblem<model_t> (),
_adapter(adapter),
_asCentral(asCentral)
{
std::vector<int> numberCorrespondences;
for(size_t i = 0; i < adapter.getNumberPairs(); i++)
numberCorrespondences.push_back(adapter.getNumberCorrespondences(i));
setUniformIndices(numberCorrespondences);
};
/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vector correspondences etc.
* \param[in] sampleSize The number of samples for each "sub"-hypothesis.
*/
MultiCentralRelativePoseSacProblem(adapter_t & adapter, int sampleSize ) :
sac::MultiSampleConsensusProblem<model_t> (),
_adapter(adapter),
_sampleSize(sampleSize)
{
std::vector<int> numberCorrespondences;
for(size_t i = 0; i < adapter.getNumberPairs(); i++)
numberCorrespondences.push_back(adapter.getNumberCorrespondences(i));
setUniformIndices(numberCorrespondences);
};
/**
* \brief Constructor.
* \param[in] adapter Visitor holding bearing vector correspondences etc.
*/
TranslationOnlySacProblem(adapter_t & adapter) :
SampleConsensusProblem<model_t> (),
_adapter(adapter)
{
setUniformIndices(adapter.getNumberCorrespondences());
};