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MACentralRelative.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_MACENTRALRELATIVE_HPP_
#define OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>
namespace opengv
{
namespace relative_pose
{
class MACentralRelative : public RelativeAdapterBase
{
protected:
using RelativeAdapterBase::_t12;
using RelativeAdapterBase::_R12;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
MACentralRelative(
const double * bearingVectors1,
const double * bearingVectors2,
int numberBearingVectors1,
int numberBearingVectors2 );
virtual ~MACentralRelative();
//Access of correspondences
virtual bearingVector_t getBearingVector1( size_t index ) const;
virtual bearingVector_t getBearingVector2( size_t index ) const;
virtual double getWeight( size_t index ) const;
virtual translation_t getCamOffset1( size_t index ) const;
virtual rotation_t getCamRotation1( size_t index ) const;
virtual translation_t getCamOffset2( size_t index ) const;
virtual rotation_t getCamRotation2( size_t index ) const;
virtual size_t getNumberCorrespondences() const;
protected:
const double * _bearingVectors1;
const double * _bearingVectors2;
int _numberBearingVectors1;
int _numberBearingVectors2;
};
}
}
#endif /* OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_ */
RelativeAdapterBase.hpp
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
opengv::relative_pose::MACentralRelative::getCamOffset1
virtual translation_t getCamOffset1(size_t index) const
opengv::relative_pose::MACentralRelative::_numberBearingVectors1
int _numberBearingVectors1
Definition MACentralRelative.hpp:109
opengv::relative_pose::MACentralRelative::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
opengv::relative_pose::MACentralRelative::getWeight
virtual double getWeight(size_t index) const
opengv::relative_pose::MACentralRelative::MACentralRelative
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MACentralRelative(const double *bearingVectors1, const double *bearingVectors2, int numberBearingVectors1, int numberBearingVectors2)
Constructor. See protected class-members to understand parameters.
opengv::relative_pose::MACentralRelative::~MACentralRelative
virtual ~MACentralRelative()
Destructor.
opengv::relative_pose::MACentralRelative::_bearingVectors1
const double * _bearingVectors1
Definition MACentralRelative.hpp:105
opengv::relative_pose::MACentralRelative::getBearingVector1
virtual bearingVector_t getBearingVector1(size_t index) const
opengv::relative_pose::MACentralRelative::getCamOffset2
virtual translation_t getCamOffset2(size_t index) const
opengv::relative_pose::MACentralRelative::getCamRotation1
virtual rotation_t getCamRotation1(size_t index) const
opengv::relative_pose::MACentralRelative::_bearingVectors2
const double * _bearingVectors2
Definition MACentralRelative.hpp:107
opengv::relative_pose::MACentralRelative::_numberBearingVectors2
int _numberBearingVectors2
Definition MACentralRelative.hpp:111
opengv::relative_pose::MACentralRelative::getCamRotation2
virtual rotation_t getCamRotation2(size_t index) const
opengv::relative_pose::MACentralRelative::getBearingVector2
virtual bearingVector_t getBearingVector2(size_t index) const
opengv::relative_pose::RelativeAdapterBase::_t12
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeAdapterBase()
Constructor.
Definition RelativeAdapterBase.hpp:71
opengv::relative_pose::RelativeAdapterBase::_R12
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
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...