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CentralAbsoluteAdapter.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_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
#define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
namespace opengv
{
namespace absolute_pose
{
class CentralAbsoluteAdapter : public AbsoluteAdapterBase
{
protected:
using AbsoluteAdapterBase::_t;
using AbsoluteAdapterBase::_R;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CentralAbsoluteAdapter(
const bearingVectors_t & bearingVectors,
const points_t & points );
CentralAbsoluteAdapter(
const bearingVectors_t & bearingVectors,
const points_t & points,
const rotation_t & R );
CentralAbsoluteAdapter(
const bearingVectors_t & bearingVectors,
const points_t & points,
const translation_t & t,
const rotation_t & R );
virtual ~CentralAbsoluteAdapter();
//Access of correspondences
virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
virtual double getWeight( size_t index ) const;
virtual opengv::translation_t getCamOffset( size_t index ) const;
virtual opengv::rotation_t getCamRotation( size_t index ) const;
virtual opengv::point_t getPoint( size_t index ) const;
virtual size_t getNumberCorrespondences() const;
protected:
const bearingVectors_t & _bearingVectors;
const points_t & _points;
};
}
}
#endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_ */
AbsoluteAdapterBase.hpp
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase()
Constructor.
Definition AbsoluteAdapterBase.hpp:71
opengv::absolute_pose::AbsoluteAdapterBase::_R
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::absolute_pose::AbsoluteAdapterBase::_t
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
opengv::absolute_pose::CentralAbsoluteAdapter::getWeight
virtual double getWeight(size_t index) const
opengv::absolute_pose::CentralAbsoluteAdapter::getPoint
virtual opengv::point_t getPoint(size_t index) const
opengv::absolute_pose::CentralAbsoluteAdapter::_bearingVectors
const bearingVectors_t & _bearingVectors
Definition CentralAbsoluteAdapter.hpp:114
opengv::absolute_pose::CentralAbsoluteAdapter::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
opengv::absolute_pose::CentralAbsoluteAdapter::_points
const points_t & _points
Definition CentralAbsoluteAdapter.hpp:116
opengv::absolute_pose::CentralAbsoluteAdapter::getCamRotation
virtual opengv::rotation_t getCamRotation(size_t index) const
opengv::absolute_pose::CentralAbsoluteAdapter::getBearingVector
virtual opengv::bearingVector_t getBearingVector(size_t index) const
opengv::absolute_pose::CentralAbsoluteAdapter::~CentralAbsoluteAdapter
virtual ~CentralAbsoluteAdapter()
opengv::absolute_pose::CentralAbsoluteAdapter::CentralAbsoluteAdapter
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
opengv::absolute_pose::CentralAbsoluteAdapter::CentralAbsoluteAdapter
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points)
Constructor. See protected class-members to understand parameters.
opengv::absolute_pose::CentralAbsoluteAdapter::getCamOffset
virtual opengv::translation_t getCamOffset(size_t index) const
opengv::absolute_pose::CentralAbsoluteAdapter::CentralAbsoluteAdapter
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const translation_t &t, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
opengv::absolute_pose
The namespace for the absolute pose methods.
Definition AbsoluteAdapterBase.hpp:53
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::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
opengv::bearingVector_t
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
opengv::points_t
std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
Definition types.hpp:127
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...