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NoncentralAbsoluteMultiAdapter.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_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
#include <memory>
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp>
namespace opengv
{
namespace absolute_pose
{
class NoncentralAbsoluteMultiAdapter : public AbsoluteMultiAdapterBase
{
protected:
using AbsoluteMultiAdapterBase::_t;
using AbsoluteMultiAdapterBase::_R;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
NoncentralAbsoluteMultiAdapter(
std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
std::vector<std::shared_ptr<points_t> > points,
const translations_t & camOffsets,
const rotations_t & camRotations );
virtual ~NoncentralAbsoluteMultiAdapter();
//camera-wise access of correspondences
virtual point_t getPoint(
size_t frameIndex, size_t correspondenceIndex ) const;
virtual bearingVector_t getBearingVector(
size_t frameIndex, size_t correspondenceIndex ) const;
virtual double getWeight( size_t frameIndex, size_t correspondenceIndex ) const;
virtual translation_t getMultiCamOffset( size_t frameIndex ) const;
virtual rotation_t getMultiCamRotation( size_t frameIndex ) const;
virtual size_t getNumberCorrespondences( size_t frameIndex ) const;
virtual size_t getNumberFrames() 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 frameIndex, size_t correspondenceIndex ) const;
virtual int multiFrameIndex( size_t index ) const;
virtual int multiCorrespondenceIndex( size_t index ) const;
protected:
std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors;
std::vector<std::shared_ptr<points_t> > _points;
const translations_t & _camOffsets;
const rotations_t & _camRotations;
std::vector<int> multiFrameIndices;
std::vector<int> multiKeypointIndices;
std::vector<int> singleIndexOffsets;
};
}
};
#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */
AbsoluteMultiAdapterBase.hpp
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms....
opengv::absolute_pose::AbsoluteMultiAdapterBase::_R
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::absolute_pose::AbsoluteMultiAdapterBase::_t
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteMultiAdapterBase()
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:77
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::convertMultiIndex
virtual int convertMultiIndex(size_t frameIndex, size_t correspondenceIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getWeight
virtual double getWeight(size_t frameIndex, size_t correspondenceIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiKeypointIndices
std::vector< int > multiKeypointIndices
Definition NoncentralAbsoluteMultiAdapter.hpp:139
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getNumberCorrespondences
virtual size_t getNumberCorrespondences(size_t frameIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getBearingVector
virtual bearingVector_t getBearingVector(size_t frameIndex, size_t correspondenceIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter
EIGEN_MAKE_ALIGNED_OPERATOR_NEW NoncentralAbsoluteMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors, std::vector< std::shared_ptr< points_t > > points, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getMultiCamOffset
virtual translation_t getMultiCamOffset(size_t frameIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::~NoncentralAbsoluteMultiAdapter
virtual ~NoncentralAbsoluteMultiAdapter()
Destructor.
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::singleIndexOffsets
std::vector< int > singleIndexOffsets
Definition NoncentralAbsoluteMultiAdapter.hpp:141
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_camRotations
const rotations_t & _camRotations
Definition NoncentralAbsoluteMultiAdapter.hpp:134
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getMultiCamRotation
virtual rotation_t getMultiCamRotation(size_t frameIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiCorrespondenceIndex
virtual int multiCorrespondenceIndex(size_t index) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_camOffsets
const translations_t & _camOffsets
Definition NoncentralAbsoluteMultiAdapter.hpp:130
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiFrameIndex
virtual int multiFrameIndex(size_t index) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiFrameIndices
std::vector< int > multiFrameIndices
Definition NoncentralAbsoluteMultiAdapter.hpp:137
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_points
std::vector< std::shared_ptr< points_t > > _points
Definition NoncentralAbsoluteMultiAdapter.hpp:125
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getNumberFrames
virtual size_t getNumberFrames() const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_bearingVectors
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors
Definition NoncentralAbsoluteMultiAdapter.hpp:122
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::getPoint
virtual point_t getPoint(size_t frameIndex, size_t correspondenceIndex) const
opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::convertMultiIndices
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
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::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...