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PointCloudAdapterBase.hpp
/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * Redistributions in binary form must reproduce the above copyright *
* notice, this list of conditions and the following disclaimer in the *
* documentation and/or other materials provided with the distribution. *
* * Neither the name of ANU nor the names of its contributors may be *
* used to endorse or promote products derived from this software without *
* specific prior written permission. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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******************************************************************************/
#ifndef OPENGV_POINTCLOUDADAPTERBASE_HPP_
#define OPENGV_POINTCLOUDADAPTERBASE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
namespace opengv
{
namespace point_cloud
{
class PointCloudAdapterBase
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PointCloudAdapterBase( ) :
_t12(Eigen::Vector3d::Zero()),
_R12(Eigen::Matrix3d::Identity()) {};
PointCloudAdapterBase( const rotation_t & R12 ) :
_t12(Eigen::Vector3d::Zero()),
_R12(R12) {};
PointCloudAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
_t12(t12),
_R12(R12) {};
virtual ~PointCloudAdapterBase() {};
//Access of correspondences
virtual opengv::point_t getPoint1( size_t index ) const = 0;
virtual opengv::point_t getPoint2( size_t index ) const = 0;
virtual size_t getNumberCorrespondences() const = 0;
virtual double getWeight( size_t index ) const = 0;
//Access of priors or known values
virtual opengv::translation_t gett12() const { return _t12; };
virtual void sett12(const translation_t & t12) { _t12 = t12; };
virtual opengv::rotation_t getR12() const { return _R12; };
virtual void setR12(const rotation_t & R12) { _R12 = R12; };
public:
translation_t _t12;
rotation_t _R12;
};
}
}
#endif /* OPENGV_POINTCLOUDADAPTERBASE_HPP_ */
opengv::point_cloud::PointCloudAdapterBase::getPoint1
virtual opengv::point_t getPoint1(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 1.
opengv::point_cloud::PointCloudAdapterBase::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::point_cloud::PointCloudAdapterBase::_R12
rotation_t _R12
Definition PointCloudAdapterBase.hpp:154
opengv::point_cloud::PointCloudAdapterBase::~PointCloudAdapterBase
virtual ~PointCloudAdapterBase()
Destructor.
Definition PointCloudAdapterBase.hpp:93
opengv::point_cloud::PointCloudAdapterBase::_t12
translation_t _t12
Definition PointCloudAdapterBase.hpp:150
opengv::point_cloud::PointCloudAdapterBase::gett12
virtual opengv::translation_t gett12() const
Retrieve the prior or known value for the relative position.
Definition PointCloudAdapterBase.hpp:129
opengv::point_cloud::PointCloudAdapterBase::setR12
virtual void setR12(const rotation_t &R12)
Set the prior or known value for the relative rotation.
Definition PointCloudAdapterBase.hpp:144
opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapterBase()
Constructor.
Definition PointCloudAdapterBase.hpp:69
opengv::point_cloud::PointCloudAdapterBase::getR12
virtual opengv::rotation_t getR12() const
Retrieve the prior or known value for the relative rotation.
Definition PointCloudAdapterBase.hpp:139
opengv::point_cloud::PointCloudAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase
PointCloudAdapterBase(const translation_t &t12, const rotation_t &R12)
Constructor.
Definition PointCloudAdapterBase.hpp:87
opengv::point_cloud::PointCloudAdapterBase::getPoint2
virtual opengv::point_t getPoint2(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 2.
opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase
PointCloudAdapterBase(const rotation_t &R12)
Constructor.
Definition PointCloudAdapterBase.hpp:77
opengv::point_cloud::PointCloudAdapterBase::sett12
virtual void sett12(const translation_t &t12)
Set the prior or known value for the relative position.
Definition PointCloudAdapterBase.hpp:134
opengv::point_cloud
The namespace for the point-cloud alignment methods.
Definition MAPointCloud.hpp:54
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
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...