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AbsoluteAdapterBase.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_ABSOLUTEADAPTERBASE_HPP_
#define OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
namespace opengv
{
namespace absolute_pose
{
class AbsoluteAdapterBase
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
AbsoluteAdapterBase() :
_t(Eigen::Vector3d::Zero()),
_R(Eigen::Matrix3d::Identity()) {};
AbsoluteAdapterBase( const opengv::rotation_t & R ) :
_t(Eigen::Vector3d::Zero()),
_R(R) {};
AbsoluteAdapterBase(
const opengv::translation_t & t,
const opengv::rotation_t & R ) :
_t(t),
_R(R) {};
virtual ~AbsoluteAdapterBase() {};
//Access of correspondences
virtual opengv::bearingVector_t getBearingVector(size_t index ) const = 0;
virtual double getWeight( size_t index ) const = 0;
virtual opengv::translation_t getCamOffset( size_t index ) const = 0;
virtual opengv::rotation_t getCamRotation( size_t index ) const = 0;
virtual opengv::point_t getPoint( size_t index ) const = 0;
virtual size_t getNumberCorrespondences() const = 0;
//Access of priors or known values
opengv::translation_t gett() const { return _t; };
void sett(const opengv::translation_t & t) { _t = t; };
opengv::rotation_t getR() const { return _R; };
void setR(const opengv::rotation_t & R) { _R = R; };
protected:
opengv::translation_t _t;
opengv::rotation_t _R;
};
}
};
#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_ */
opengv::absolute_pose::AbsoluteAdapterBase::getWeight
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
opengv::absolute_pose::AbsoluteAdapterBase::getBearingVector
virtual opengv::bearingVector_t getBearingVector(size_t index) const =0
Retrieve the bearing vector of a correspondence.
opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase()
Constructor.
Definition AbsoluteAdapterBase.hpp:71
opengv::absolute_pose::AbsoluteAdapterBase::getCamOffset
virtual opengv::translation_t getCamOffset(size_t index) const =0
Retrieve the position of a camera of a correspondence seen from the viewpoint origin.
opengv::absolute_pose::AbsoluteAdapterBase::gett
opengv::translation_t gett() const
Retrieve the prior or known value for the position.
Definition AbsoluteAdapterBase.hpp:149
opengv::absolute_pose::AbsoluteAdapterBase::getR
opengv::rotation_t getR() const
Retrieve the prior or known value for the rotation.
Definition AbsoluteAdapterBase.hpp:159
opengv::absolute_pose::AbsoluteAdapterBase::getNumberCorrespondences
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
opengv::absolute_pose::AbsoluteAdapterBase::getPoint
virtual opengv::point_t getPoint(size_t index) const =0
Retrieve the world point of a correspondence.
opengv::absolute_pose::AbsoluteAdapterBase::getCamRotation
virtual opengv::rotation_t getCamRotation(size_t index) const =0
Retrieve the rotation from a camera of a correspondence to the viewpoint origin.
opengv::absolute_pose::AbsoluteAdapterBase::_R
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::absolute_pose::AbsoluteAdapterBase::setR
void setR(const opengv::rotation_t &R)
Set the prior or known value for the rotation.
Definition AbsoluteAdapterBase.hpp:164
opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase
AbsoluteAdapterBase(const opengv::rotation_t &R)
Constructor.
Definition AbsoluteAdapterBase.hpp:79
opengv::absolute_pose::AbsoluteAdapterBase::_t
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
opengv::absolute_pose::AbsoluteAdapterBase::~AbsoluteAdapterBase
virtual ~AbsoluteAdapterBase()
Destructor.
Definition AbsoluteAdapterBase.hpp:97
opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase
AbsoluteAdapterBase(const opengv::translation_t &t, const opengv::rotation_t &R)
Constructor.
Definition AbsoluteAdapterBase.hpp:89
opengv::absolute_pose::AbsoluteAdapterBase::sett
void sett(const opengv::translation_t &t)
Set the prior or known value for the position.
Definition AbsoluteAdapterBase.hpp:154
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...