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RelativeAdapterBase.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_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_
#define OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
namespace opengv
{
namespace relative_pose
{
class RelativeAdapterBase
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RelativeAdapterBase( ) :
_t12(Eigen::Vector3d::Zero()),
_R12(Eigen::Matrix3d::Identity()) {};
RelativeAdapterBase( const rotation_t & R12 ) :
_t12(Eigen::Vector3d::Zero()),
_R12(R12) {};
RelativeAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
_t12(t12),
_R12(R12) {};
virtual ~RelativeAdapterBase() {};
//Access of correspondences
virtual opengv::bearingVector_t getBearingVector1( size_t index ) const = 0;
virtual opengv::bearingVector_t getBearingVector2( size_t index ) const = 0;
virtual double getWeight( size_t index ) const = 0;
virtual opengv::translation_t getCamOffset1( size_t index ) const = 0;
virtual opengv::rotation_t getCamRotation1( size_t index ) const = 0;
virtual opengv::translation_t getCamOffset2( size_t index ) const = 0;
virtual opengv::rotation_t getCamRotation2( size_t index ) const = 0;
virtual size_t getNumberCorrespondences() const = 0;
//Access of priors or known values
opengv::translation_t gett12() const { return _t12; };
void sett12(const opengv::translation_t & t12) { _t12 = t12; };
opengv::rotation_t getR12() const { return _R12; };
void setR12(const opengv::rotation_t & R12) { _R12 = R12; };
protected:
opengv::translation_t _t12;
opengv::rotation_t _R12;
};
}
}
#endif /* OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_ */
opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase
RelativeAdapterBase(const translation_t &t12, const rotation_t &R12)
Constructor.
Definition RelativeAdapterBase.hpp:89
opengv::relative_pose::RelativeAdapterBase::getCamOffset1
virtual opengv::translation_t getCamOffset1(size_t index) const =0
Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the view...
opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase
RelativeAdapterBase(const rotation_t &R12)
Constructor.
Definition RelativeAdapterBase.hpp:79
opengv::relative_pose::RelativeAdapterBase::getCamOffset2
virtual opengv::translation_t getCamOffset2(size_t index) const =0
Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the view...
opengv::relative_pose::RelativeAdapterBase::getCamRotation2
virtual opengv::rotation_t getCamRotation2(size_t index) const =0
Retrieve the rotation from a camera of a correspondence in viewpoint 2 to the viewpoint origin.
opengv::relative_pose::RelativeAdapterBase::getR12
opengv::rotation_t getR12() const
Retrieve the prior or known value for the relative rotation.
Definition RelativeAdapterBase.hpp:173
opengv::relative_pose::RelativeAdapterBase::~RelativeAdapterBase
virtual ~RelativeAdapterBase()
Destructor.
Definition RelativeAdapterBase.hpp:95
opengv::relative_pose::RelativeAdapterBase::getCamRotation1
virtual opengv::rotation_t getCamRotation1(size_t index) const =0
Retrieve the rotation from a camera of a correspondence in viewpoint 1 to the viewpoint origin.
opengv::relative_pose::RelativeAdapterBase::_t12
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::relative_pose::RelativeAdapterBase::getWeight
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
opengv::relative_pose::RelativeAdapterBase::getBearingVector2
virtual opengv::bearingVector_t getBearingVector2(size_t index) const =0
Retrieve the bearing vector of a correspondence in viewpoint 2.
opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeAdapterBase()
Constructor.
Definition RelativeAdapterBase.hpp:71
opengv::relative_pose::RelativeAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
opengv::relative_pose::RelativeAdapterBase::gett12
opengv::translation_t gett12() const
Retrieve the prior or known value for the relative position.
Definition RelativeAdapterBase.hpp:163
opengv::relative_pose::RelativeAdapterBase::setR12
void setR12(const opengv::rotation_t &R12)
Set the prior or known value for the relative rotation.
Definition RelativeAdapterBase.hpp:178
opengv::relative_pose::RelativeAdapterBase::_R12
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
opengv::relative_pose::RelativeAdapterBase::getBearingVector1
virtual opengv::bearingVector_t getBearingVector1(size_t index) const =0
Retrieve the bearing vector of a correspondence in viewpoint 1.
opengv::relative_pose::RelativeAdapterBase::sett12
void sett12(const opengv::translation_t &t12)
Set the prior or known value for the relative position.
Definition RelativeAdapterBase.hpp:168
opengv::relative_pose
The namespace for the relative pose methods.
Definition CentralRelativeAdapter.hpp:55
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
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...