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PointCloudAdapter.hpp
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/******************************************************************************
* 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_POINTCLOUDADAPTER_HPP_
#define OPENGV_POINTCLOUDADAPTER_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
namespace opengv
{
namespace point_cloud
{
class PointCloudAdapter : public PointCloudAdapterBase
{
private:
using PointCloudAdapterBase::_t12;
using PointCloudAdapterBase::_R12;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
PointCloudAdapter(
const points_t & points1,
const points_t & points2 );
PointCloudAdapter(
const points_t & points1,
const points_t & points2,
const rotation_t & R12 );
PointCloudAdapter(
const points_t & points1,
const points_t & points2,
const translation_t & t12,
const rotation_t & R12 );
virtual ~PointCloudAdapter();
//Access of correspondences
virtual opengv::point_t getPoint1( size_t index ) const;
virtual opengv::point_t getPoint2( size_t index ) const;
virtual double getWeight( size_t index ) const;
virtual size_t getNumberCorrespondences() const;
private:
const points_t & _points1;
const points_t & _points2;
};
}
}
#endif /* OPENGV_POINTCLOUDADAPTER_HPP_ */
opengv::point_cloud::PointCloudAdapterBase::_R12
rotation_t _R12
Definition PointCloudAdapterBase.hpp:154
opengv::point_cloud::PointCloudAdapterBase::_t12
translation_t _t12
Definition PointCloudAdapterBase.hpp:150
opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapterBase()
Constructor.
Definition PointCloudAdapterBase.hpp:69
opengv::point_cloud::PointCloudAdapter::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
opengv::point_cloud::PointCloudAdapter::getWeight
virtual double getWeight(size_t index) const
opengv::point_cloud::PointCloudAdapter::~PointCloudAdapter
virtual ~PointCloudAdapter()
opengv::point_cloud::PointCloudAdapter::PointCloudAdapter
PointCloudAdapter(const points_t &points1, const points_t &points2, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
opengv::point_cloud::PointCloudAdapter::getPoint1
virtual opengv::point_t getPoint1(size_t index) const
opengv::point_cloud::PointCloudAdapter::PointCloudAdapter
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapter(const points_t &points1, const points_t &points2)
Constructor. See protected class-members to understand parameters.
opengv::point_cloud::PointCloudAdapter::PointCloudAdapter
PointCloudAdapter(const points_t &points1, const points_t &points2, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
opengv::point_cloud::PointCloudAdapter::getPoint2
virtual opengv::point_t getPoint2(size_t index) const
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
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...