#include <pnp_ransac_problem.h>

Inheritance diagram for bsfm::PnPRansacProblem:

Public Member Functions
	PnPRansacProblem ()

virtual	~PnPRansacProblem ()

void	SetIntrinsics (CameraIntrinsics &intrinsics)

virtual std::vector< Observation::Ptr >	SampleData (unsigned int num_samples)

virtual std::vector< Observation::Ptr >	RemainingData (unsigned int num_sampled_previously) const

virtual PnPRansacModel	FitModel (const std::vector< Observation::Ptr > &input_data) const

Public Member Functions inherited from bsfm::RansacProblem< Observation::Ptr, PnPRansacModel >
	RansacProblem ()

virtual	~RansacProblem ()

virtual void	SetModel (const PnPRansacModel &model)

virtual void	SetData (const std::vector< Observation::Ptr > &data)

virtual void	SetInliers (const std::vector< Observation::Ptr > &inliers)

virtual void	SetSolutionFound (bool solution_found)

virtual bool	SolutionFound ()

virtual const PnPRansacModel &	Model () const

virtual const std::vector< Observation::Ptr > &	Inliers () const

Private Attributes
CameraIntrinsics	intrinsics_

Additional Inherited Members
Protected Attributes inherited from bsfm::RansacProblem< Observation::Ptr, PnPRansacModel >
std::vector< Observation::Ptr >	data_

std::vector< Observation::Ptr >	inliers_

PnPRansacModel	model_

bool	solution_found_

Detailed Description

Definition at line 94 of file pnp_ransac_problem.h.

Constructor & Destructor Documentation

bsfm::PnPRansacProblem::PnPRansacProblem ( )

Definition at line 123 of file pnp_ransac_problem.cpp.

123 {}

bsfm::PnPRansacProblem::~PnPRansacProblem ( )

virtual

Definition at line 124 of file pnp_ransac_problem.cpp.

124 {}

Member Function Documentation

PnPRansacModel bsfm::PnPRansacProblem::FitModel ( const std::vector< Observation::Ptr > & input_data ) const

virtual

Implements bsfm::RansacProblem< Observation::Ptr, PnPRansacModel >.

Definition at line 167 of file pnp_ransac_problem.cpp.

                                                        {
 
   // Extract a FeatureList and a Point3DList from input_data.
   FeatureList points_2d;
   Point3DList points_3d;
   points_2d.reserve(input_data.size());
   points_3d.reserve(input_data.size());
 
   for (const auto& observation : input_data) {
     CHECK_NOTNULL(observation.get());
 
     // Extract feature and append.
     points_2d.push_back(observation->Feature());
 
     // Extract landmark position and append.
     Landmark::Ptr landmark = observation->GetLandmark();
     CHECK_NOTNULL(landmark.get());
     points_3d.push_back(landmark->Position());
   }
 
   // Set up solver.
   PoseEstimator2D3D solver;
   solver.Initialize(points_2d, points_3d, intrinsics_);
 
   // Solve.
   Pose calculated_pose;
   if (!solver.Solve(calculated_pose)) {
     VLOG(1) << "Could not estimate a pose using the PnP solver. "
         << "Assuming identity pose.";
   }
 
   // Generate a model from this Pose.
   CameraExtrinsics extrinsics(calculated_pose);
   Camera camera(extrinsics, intrinsics_);
 
   PnPRansacModel model(camera, input_data);
   return model;
 }

std::vector< Observation::Ptr > bsfm::PnPRansacProblem::RemainingData ( unsigned int num_sampled_previously ) const

virtual

Implements bsfm::RansacProblem< Observation::Ptr, PnPRansacModel >.

Definition at line 153 of file pnp_ransac_problem.cpp.

                                                {
   // In Sample(), the data was shuffled and we took the first
   // 'num_sampled_previously' elements. Here, take the remaining elements.
   if (num_sampled_previously >= data_.size()) {
     VLOG(1) << "No remaining RANSAC data to sample.";
     return std::vector<Observation::Ptr>();
   }
 
   return std::vector<Observation::Ptr>(
     data_.begin() + num_sampled_previously, data_.end());
 }

std::vector< Observation::Ptr > bsfm::PnPRansacProblem::SampleData ( unsigned int num_samples )

virtual

Implements bsfm::RansacProblem< Observation::Ptr, PnPRansacModel >.

Definition at line 132 of file pnp_ransac_problem.cpp.

                              {
 
   // Randomly shuffle the entire dataset and take the first elements.
   std::random_shuffle(data_.begin(), data_.end());
 
   // Make sure we don't over step.
   if (static_cast<size_t>(num_samples) > data_.size()) {
     VLOG(1) << "Requested more RANSAC data samples than are available. "
         << "Returning all data.";
     num_samples = data_.size();
   }
 
   // Get samples.
   std::vector<Observation::Ptr> samples(
     data_.begin(), data_.begin() + static_cast<size_t>(num_samples));
 
   return samples;
 }

void bsfm::PnPRansacProblem::SetIntrinsics ( CameraIntrinsics & intrinsics )

Definition at line 127 of file pnp_ransac_problem.cpp.

                                                                  {
   intrinsics_ = intrinsics;
 }

Member Data Documentation

CameraIntrinsics bsfm::PnPRansacProblem::intrinsics_

private

Definition at line 115 of file pnp_ransac_problem.h.

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

/Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/pnp_ransac_problem.h
/Users/eanelson/Git/berkeley_sfm/src/cpp/ransac/pnp_ransac_problem.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation