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NoncentralRelativeAdapter.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_NONCENTRALRELATIVEADAPTER_HPP_
#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>
namespace opengv
{
namespace relative_pose
{
class NoncentralRelativeAdapter : public RelativeAdapterBase
{
protected:
using RelativeAdapterBase::_t12;
using RelativeAdapterBase::_R12;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef std::vector<int> camCorrespondences_t;
NoncentralRelativeAdapter(
const bearingVectors_t & bearingVectors1,
const bearingVectors_t & bearingVectors2,
const camCorrespondences_t & camCorrespondences1,
const camCorrespondences_t & camCorrespondences2,
const translations_t & camOffsets,
const rotations_t & camRotations );
NoncentralRelativeAdapter(
const bearingVectors_t & bearingVectors1,
const bearingVectors_t & bearingVectors2,
const camCorrespondences_t & camCorrespondences1,
const camCorrespondences_t & camCorrespondences2,
const translations_t & camOffsets,
const rotations_t & camRotations,
const rotation_t & R12 );
NoncentralRelativeAdapter(
const bearingVectors_t & bearingVectors1,
const bearingVectors_t & bearingVectors2,
const camCorrespondences_t & camCorrespondences1,
const camCorrespondences_t & camCorrespondences2,
const translations_t & camOffsets,
const rotations_t & camRotations,
const translation_t & t12,
const rotation_t & R12 );
virtual ~NoncentralRelativeAdapter();
//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 bearingVectors_t & _bearingVectors1;
const bearingVectors_t & _bearingVectors2;
const camCorrespondences_t & _camCorrespondences1;
const camCorrespondences_t & _camCorrespondences2;
const translations_t & _camOffsets;
const rotations_t & _camRotations;
};
}
}
#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_ */
RelativeAdapterBase.hpp
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
opengv::relative_pose::NoncentralRelativeAdapter::_bearingVectors2
const bearingVectors_t & _bearingVectors2
Definition NoncentralRelativeAdapter.hpp:141
opengv::relative_pose::NoncentralRelativeAdapter::~NoncentralRelativeAdapter
virtual ~NoncentralRelativeAdapter()
Destructor.
opengv::relative_pose::NoncentralRelativeAdapter::getWeight
virtual double getWeight(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
opengv::relative_pose::NoncentralRelativeAdapter::getCamOffset2
virtual translation_t getCamOffset2(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::_bearingVectors1
const bearingVectors_t & _bearingVectors1
Definition NoncentralRelativeAdapter.hpp:137
opengv::relative_pose::NoncentralRelativeAdapter::_camCorrespondences2
const camCorrespondences_t & _camCorrespondences2
Definition NoncentralRelativeAdapter.hpp:153
opengv::relative_pose::NoncentralRelativeAdapter::camCorrespondences_t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > camCorrespondences_t
Definition NoncentralRelativeAdapter.hpp:74
opengv::relative_pose::NoncentralRelativeAdapter::_camOffsets
const translations_t & _camOffsets
Definition NoncentralRelativeAdapter.hpp:158
opengv::relative_pose::NoncentralRelativeAdapter::getBearingVector1
virtual bearingVector_t getBearingVector1(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::getCamRotation1
virtual rotation_t getCamRotation1(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::_camRotations
const rotations_t & _camRotations
Definition NoncentralRelativeAdapter.hpp:162
opengv::relative_pose::NoncentralRelativeAdapter::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
opengv::relative_pose::NoncentralRelativeAdapter::getCamRotation2
virtual rotation_t getCamRotation2(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::getCamOffset1
virtual translation_t getCamOffset1(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
opengv::relative_pose::NoncentralRelativeAdapter::_camCorrespondences1
const camCorrespondences_t & _camCorrespondences1
Definition NoncentralRelativeAdapter.hpp:147
opengv::relative_pose::NoncentralRelativeAdapter::getBearingVector2
virtual bearingVector_t getBearingVector2(size_t index) const
opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
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::bearingVectors_t
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition types.hpp:59
opengv::rotation_t
Eigen::Matrix3d rotation_t
Definition types.hpp:71
opengv::translations_t
std::vector< translation_t, Eigen::aligned_allocator< translation_t > > translations_t
Definition types.hpp:67
opengv::translation_t
Eigen::Vector3d translation_t
Definition types.hpp:63
opengv::bearingVector_t
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
opengv::rotations_t
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition types.hpp:75
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...