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CentralRelativeMultiAdapter.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_CENTRALRELATIVEMULTIADAPTER_HPP_
#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_
#include <stdlib.h>
#include <vector>
#include <memory>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeMultiAdapterBase.hpp>
namespace opengv
{
namespace relative_pose
{
class CentralRelativeMultiAdapter : public RelativeMultiAdapterBase
{
protected:
using RelativeAdapterBase::_t12;
using RelativeAdapterBase::_R12;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CentralRelativeMultiAdapter(
std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors2 );
virtual ~CentralRelativeMultiAdapter();
//camera-pair-wise access of correspondences
virtual bearingVector_t getBearingVector1(
size_t pairIndex, size_t correspondenceIndex ) const;
virtual bearingVector_t getBearingVector2(
size_t pairIndex, size_t correspondenceIndex ) const;
virtual double getWeight( size_t pairIndex, size_t correspondenceIndex ) const;
virtual translation_t getCamOffset( size_t pairIndex ) const;
virtual rotation_t getCamRotation( size_t pairIndex ) const;
virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
virtual size_t getNumberPairs() const;
//Conversion to and from serialized indices
virtual std::vector<int> convertMultiIndices(
const std::vector<std::vector<int> > & multiIndices ) const;
virtual int convertMultiIndex(
size_t pairIndex, size_t correspondenceIndex ) const;
virtual int multiPairIndex( size_t index ) const;
virtual int multiCorrespondenceIndex( size_t index ) const;
protected:
std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors1;
std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors2;
std::vector<int> multiPairIndices;
std::vector<int> multiKeypointIndices;
std::vector<int> singleIndexOffsets;
};
}
}
#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_ */
RelativeMultiAdapterBase.hpp
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
opengv::relative_pose::CentralRelativeMultiAdapter::getCamOffset
virtual translation_t getCamOffset(size_t pairIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::getCamRotation
virtual rotation_t getCamRotation(size_t pairIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::getNumberPairs
virtual size_t getNumberPairs() const
opengv::relative_pose::CentralRelativeMultiAdapter::~CentralRelativeMultiAdapter
virtual ~CentralRelativeMultiAdapter()
Destructor.
opengv::relative_pose::CentralRelativeMultiAdapter::multiKeypointIndices
std::vector< int > multiKeypointIndices
Definition CentralRelativeMultiAdapter.hpp:130
opengv::relative_pose::CentralRelativeMultiAdapter::convertMultiIndex
virtual int convertMultiIndex(size_t pairIndex, size_t correspondenceIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::_bearingVectors2
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors2
Definition CentralRelativeMultiAdapter.hpp:125
opengv::relative_pose::CentralRelativeMultiAdapter::multiPairIndex
virtual int multiPairIndex(size_t index) const
opengv::relative_pose::CentralRelativeMultiAdapter::convertMultiIndices
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors1, std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors2)
Constructor. See protected class-members to understand parameters.
opengv::relative_pose::CentralRelativeMultiAdapter::singleIndexOffsets
std::vector< int > singleIndexOffsets
Definition CentralRelativeMultiAdapter.hpp:132
opengv::relative_pose::CentralRelativeMultiAdapter::getWeight
virtual double getWeight(size_t pairIndex, size_t correspondenceIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::_bearingVectors1
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors1
Definition CentralRelativeMultiAdapter.hpp:121
opengv::relative_pose::CentralRelativeMultiAdapter::getBearingVector2
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::getBearingVector1
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::multiPairIndices
std::vector< int > multiPairIndices
Definition CentralRelativeMultiAdapter.hpp:128
opengv::relative_pose::CentralRelativeMultiAdapter::getNumberCorrespondences
virtual size_t getNumberCorrespondences(size_t pairIndex) const
opengv::relative_pose::CentralRelativeMultiAdapter::multiCorrespondenceIndex
virtual int multiCorrespondenceIndex(size_t index) const
opengv::relative_pose::RelativeAdapterBase::_t12
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::relative_pose::RelativeAdapterBase::_R12
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
opengv::relative_pose::RelativeMultiAdapterBase::RelativeMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeMultiAdapterBase()
Definition RelativeMultiAdapterBase.hpp:77
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...