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AbsoluteMultiAdapterBase.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_ABSOLUTEMULTIADAPTERBASE_HPP_
#define OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
namespace opengv
{
namespace absolute_pose
{
class AbsoluteMultiAdapterBase : public AbsoluteAdapterBase
{
protected:
using AbsoluteAdapterBase::_t;
using AbsoluteAdapterBase::_R;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
AbsoluteMultiAdapterBase() :
AbsoluteAdapterBase() {};
AbsoluteMultiAdapterBase( const opengv::rotation_t & R ) :
AbsoluteAdapterBase(R) {};
AbsoluteMultiAdapterBase(
const opengv::translation_t & t,
const opengv::rotation_t & R ) :
AbsoluteAdapterBase(t,R) {};
virtual ~AbsoluteMultiAdapterBase() {};
//camera-wise access of correspondences
virtual opengv::bearingVector_t getBearingVector(
size_t frameIndex, size_t correspondenceIndex ) const = 0;
virtual double getWeight(
size_t frameIndex, size_t correspondenceIndex ) const = 0;
virtual opengv::translation_t getMultiCamOffset( size_t frameIndex ) const = 0;
virtual opengv::rotation_t getMultiCamRotation( size_t frameIndex ) const = 0;
virtual opengv::point_t getPoint(
size_t frameIndex, size_t correspondenceIndex ) const = 0;
virtual size_t getNumberCorrespondences( size_t frameIndex ) const = 0;
virtual size_t getNumberFrames() 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 frameIndex, size_t correspondenceIndex ) const = 0;
virtual int multiFrameIndex( 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 getBearingVector( size_t index ) const
{
return getBearingVector(
multiFrameIndex(index), multiCorrespondenceIndex(index) );
}
virtual double getWeight( size_t index ) const
{
return getWeight(
multiFrameIndex(index), multiCorrespondenceIndex(index) );
}
virtual translation_t getCamOffset( size_t index ) const
{ return getMultiCamOffset( multiFrameIndex(index) ); }
virtual rotation_t getCamRotation( size_t index ) const
{ return getMultiCamRotation( multiFrameIndex(index) ); }
virtual point_t getPoint( size_t index ) const
{
return getPoint(
multiFrameIndex(index), multiCorrespondenceIndex(index) );
}
virtual size_t getNumberCorrespondences() const
{
size_t numberCorrespondences = 0;
for(size_t i = 0; i < getNumberFrames(); i++)
numberCorrespondences += getNumberCorrespondences(i);
return numberCorrespondences;
}
};
}
};
#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_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::AbsoluteMultiAdapterBase::getPoint
virtual opengv::point_t getPoint(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the world point of a correspondence.
opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const
Definition AbsoluteMultiAdapterBase.hpp:217
opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint
virtual point_t getPoint(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:211
opengv::absolute_pose::AbsoluteMultiAdapterBase::multiCorrespondenceIndex
virtual int multiCorrespondenceIndex(size_t index) const =0
Get the correspondence-index in a camera for a serialized index.
opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight
virtual double getWeight(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamRotation
virtual opengv::rotation_t getMultiCamRotation(size_t frameIndex) const =0
Retrieve the rotation from a camera to the viewpoint frame.
opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndices
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const =0
Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices.
opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamOffset
virtual opengv::translation_t getMultiCamOffset(size_t frameIndex) const =0
Retrieve the position of a camera seen from the viewpoint origin.
opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences(size_t frameIndex) const =0
Retrieve the number of correspondences for a camera.
opengv::absolute_pose::AbsoluteMultiAdapterBase::multiFrameIndex
virtual int multiFrameIndex(size_t index) const =0
Get the frame-index corresponding to a serialized index.
opengv::absolute_pose::AbsoluteMultiAdapterBase::~AbsoluteMultiAdapterBase
virtual ~AbsoluteMultiAdapterBase()
Destructor.
Definition AbsoluteMultiAdapterBase.hpp:100
opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberFrames
virtual size_t getNumberFrames() const =0
Retrieve the number of cameras.
opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase
AbsoluteMultiAdapterBase(const opengv::rotation_t &R)
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:84
opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamOffset
virtual translation_t getCamOffset(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:205
opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteMultiAdapterBase()
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:77
opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamRotation
virtual rotation_t getCamRotation(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:208
opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector
virtual opengv::bearingVector_t getBearingVector(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in a certain frame.
opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndex
virtual int convertMultiIndex(size_t frameIndex, size_t correspondenceIndex) const =0
Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.
opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase
AbsoluteMultiAdapterBase(const opengv::translation_t &t, const opengv::rotation_t &R)
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:93
opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight
virtual double getWeight(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:199
opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector
virtual bearingVector_t getBearingVector(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:193
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::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
types.hpp
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...