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MACentralAbsolute.hpp
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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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#ifndef OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
#define OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
namespace opengv
{
namespace absolute_pose
{
class MACentralAbsolute : public AbsoluteAdapterBase
{
protected:
using AbsoluteAdapterBase::_t;
using AbsoluteAdapterBase::_R;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
MACentralAbsolute(
const double * points,
const double * bearingVectors,
int numberPoints,
int numberBearingVectors );
virtual ~MACentralAbsolute();
//Access of correspondences
virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
virtual double getWeight( size_t index ) const;
virtual opengv::translation_t getCamOffset( size_t index ) const;
virtual opengv::rotation_t getCamRotation( size_t index ) const;
virtual opengv::point_t getPoint( size_t index ) const;
virtual size_t getNumberCorrespondences() const;
protected:
const double * _points;
const double * _bearingVectors;
int _numberPoints;
int _numberBearingVectors;
};
}
}
#endif /* OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_ */
AbsoluteAdapterBase.hpp
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase()
Constructor.
Definition AbsoluteAdapterBase.hpp:71
opengv::absolute_pose::AbsoluteAdapterBase::_R
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::absolute_pose::AbsoluteAdapterBase::_t
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
opengv::absolute_pose::MACentralAbsolute::MACentralAbsolute
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MACentralAbsolute(const double *points, const double *bearingVectors, int numberPoints, int numberBearingVectors)
Constructor. See protected class-members to understand parameters.
opengv::absolute_pose::MACentralAbsolute::_numberPoints
int _numberPoints
Definition MACentralAbsolute.hpp:107
opengv::absolute_pose::MACentralAbsolute::~MACentralAbsolute
virtual ~MACentralAbsolute()
opengv::absolute_pose::MACentralAbsolute::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
opengv::absolute_pose::MACentralAbsolute::getCamRotation
virtual opengv::rotation_t getCamRotation(size_t index) const
opengv::absolute_pose::MACentralAbsolute::_numberBearingVectors
int _numberBearingVectors
Definition MACentralAbsolute.hpp:109
opengv::absolute_pose::MACentralAbsolute::_bearingVectors
const double * _bearingVectors
Definition MACentralAbsolute.hpp:105
opengv::absolute_pose::MACentralAbsolute::getBearingVector
virtual opengv::bearingVector_t getBearingVector(size_t index) const
opengv::absolute_pose::MACentralAbsolute::_points
const double * _points
Definition MACentralAbsolute.hpp:103
opengv::absolute_pose::MACentralAbsolute::getWeight
virtual double getWeight(size_t index) const
opengv::absolute_pose::MACentralAbsolute::getCamOffset
virtual opengv::translation_t getCamOffset(size_t index) const
opengv::absolute_pose::MACentralAbsolute::getPoint
virtual opengv::point_t getPoint(size_t index) const
opengv::absolute_pose
The namespace for the absolute pose methods.
Definition AbsoluteAdapterBase.hpp:53
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::point_t
Eigen::Vector3d point_t
Definition types.hpp:123
opengv::rotation_t
Eigen::Matrix3d rotation_t
Definition types.hpp:71
opengv::translation_t
Eigen::Vector3d translation_t
Definition types.hpp:63
opengv::bearingVector_t
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...