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RelativeMultiAdapterBase.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_RELATIVEMULTIADAPTERBASE_HPP_
#define OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>
namespace opengv
{
namespace relative_pose
{
class RelativeMultiAdapterBase : public RelativeAdapterBase
{
protected:
using RelativeAdapterBase::_t12;
using RelativeAdapterBase::_R12;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
RelativeMultiAdapterBase() :
RelativeAdapterBase() {};
RelativeMultiAdapterBase( const rotation_t & R12 ) :
RelativeAdapterBase( R12 ) {};
RelativeMultiAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
RelativeAdapterBase( t12, R12 ) {};
virtual ~RelativeMultiAdapterBase() {};
//camera-pair-wise access of correspondences
virtual bearingVector_t getBearingVector1(
size_t pairIndex, size_t correspondenceIndex ) const = 0;
virtual bearingVector_t getBearingVector2(
size_t pairIndex, size_t correspondenceIndex ) const = 0;
virtual double getWeight(
size_t pairIndex, size_t correspondenceIndex ) const = 0;
virtual translation_t getCamOffset( size_t pairIndex ) const = 0;
virtual rotation_t getCamRotation( size_t pairIndex ) const = 0;
virtual size_t getNumberCorrespondences( size_t pairIndex ) const = 0;
virtual size_t getNumberPairs() const = 0;
//Conversion to and from serialized indices
virtual std::vector<int> convertMultiIndices(
const std::vector<std::vector<int> > & multiIndices ) const = 0;
virtual int convertMultiIndex(
size_t pairIndex, size_t correspondenceIndex ) const = 0;
virtual int multiPairIndex( size_t index ) const = 0;
virtual int multiCorrespondenceIndex( size_t index ) const = 0;
//the classic interface (with serialized indices, used by the opengv-methods)
virtual bearingVector_t getBearingVector1( size_t index ) const
{
return getBearingVector1(
multiPairIndex(index), multiCorrespondenceIndex(index) );
}
virtual bearingVector_t getBearingVector2( size_t index ) const
{
return getBearingVector2(
multiPairIndex(index), multiCorrespondenceIndex(index) );
}
virtual double getWeight( size_t index ) const
{
return getWeight(
multiPairIndex(index), multiCorrespondenceIndex(index) );
}
virtual translation_t getCamOffset1( size_t index ) const
{ return getCamOffset( multiPairIndex(index) ); }
virtual rotation_t getCamRotation1( size_t index ) const
{ return getCamRotation( multiPairIndex(index) ); }
virtual translation_t getCamOffset2( size_t index ) const
{ return getCamOffset( multiPairIndex(index) ); }
virtual rotation_t getCamRotation2( size_t index ) const
{ return getCamRotation( multiPairIndex(index) ); }
virtual size_t getNumberCorrespondences() const
{
size_t numberCorrespondences = 0;
for(size_t i = 0; i < getNumberPairs(); i++)
numberCorrespondences += getNumberCorrespondences(i);
return numberCorrespondences;
}
};
}
}
#endif /* OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_ */
RelativeAdapterBase.hpp
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
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::RelativeMultiAdapterBase::getCamRotation2
virtual rotation_t getCamRotation2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:207
opengv::relative_pose::RelativeMultiAdapterBase::getCamOffset1
virtual translation_t getCamOffset1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:198
opengv::relative_pose::RelativeMultiAdapterBase::getBearingVector2
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in camera 2 of a pair.
opengv::relative_pose::RelativeMultiAdapterBase::RelativeMultiAdapterBase
RelativeMultiAdapterBase(const translation_t &t12, const rotation_t &R12)
Definition RelativeMultiAdapterBase.hpp:83
opengv::relative_pose::RelativeMultiAdapterBase::convertMultiIndex
virtual int convertMultiIndex(size_t pairIndex, size_t correspondenceIndex) const =0
Convert a (pairIndex,correspondenceIndex)-pair into a serialized index.
opengv::relative_pose::RelativeMultiAdapterBase::RelativeMultiAdapterBase
RelativeMultiAdapterBase(const rotation_t &R12)
Definition RelativeMultiAdapterBase.hpp:80
opengv::relative_pose::RelativeMultiAdapterBase::getCamOffset2
virtual translation_t getCamOffset2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:204
opengv::relative_pose::RelativeMultiAdapterBase::~RelativeMultiAdapterBase
virtual ~RelativeMultiAdapterBase()
Definition RelativeMultiAdapterBase.hpp:86
opengv::relative_pose::RelativeMultiAdapterBase::getWeight
virtual double getWeight(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
opengv::relative_pose::RelativeMultiAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences(size_t pairIndex) const =0
Retrieve the number of correspondences for a camera-pair.
opengv::relative_pose::RelativeMultiAdapterBase::getCamRotation1
virtual rotation_t getCamRotation1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:201
opengv::relative_pose::RelativeMultiAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
Definition RelativeMultiAdapterBase.hpp:210
opengv::relative_pose::RelativeMultiAdapterBase::multiCorrespondenceIndex
virtual int multiCorrespondenceIndex(size_t index) const =0
Get the keypoint-index in a camera-pair for a serialized index.
opengv::relative_pose::RelativeMultiAdapterBase::getCamRotation
virtual rotation_t getCamRotation(size_t pairIndex) const =0
Retrieve the rotation from the cameras of a camera-pair back to the origin of the viewpoints (assumed...
opengv::relative_pose::RelativeMultiAdapterBase::getNumberPairs
virtual size_t getNumberPairs() const =0
Retrieve the number of camera-pairs.
opengv::relative_pose::RelativeMultiAdapterBase::getBearingVector2
virtual bearingVector_t getBearingVector2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:186
opengv::relative_pose::RelativeMultiAdapterBase::getWeight
virtual double getWeight(size_t index) const
Definition RelativeMultiAdapterBase.hpp:192
opengv::relative_pose::RelativeMultiAdapterBase::getBearingVector1
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in camera 1 of a pair.
opengv::relative_pose::RelativeMultiAdapterBase::getBearingVector1
virtual bearingVector_t getBearingVector1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:180
opengv::relative_pose::RelativeMultiAdapterBase::RelativeMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeMultiAdapterBase()
Definition RelativeMultiAdapterBase.hpp:77
opengv::relative_pose::RelativeMultiAdapterBase::convertMultiIndices
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const =0
Convert an array of (pairIndex,correspondenceIndex)-pairs into an array of serialized indices.
opengv::relative_pose::RelativeMultiAdapterBase::getCamOffset
virtual translation_t getCamOffset(size_t pairIndex) const =0
Retrieve the position of the cameras of a camera-pair seen from the origin of the viewpoints (assumed...
opengv::relative_pose::RelativeMultiAdapterBase::multiPairIndex
virtual int multiPairIndex(size_t index) const =0
Get the camera-pair-index corresponding to a serialized index.
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...