OpenGV
A library for solving calibrated central and non-central geometric vision problems
NoncentralRelativeAdapter.hpp
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30
38#ifndef OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
39#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
40
41#include <stdlib.h>
42#include <vector>
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace relative_pose
55{
56
63{
64protected:
67
68public:
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70
74 typedef std::vector<int> camCorrespondences_t;
75
80 const bearingVectors_t & bearingVectors1,
81 const bearingVectors_t & bearingVectors2,
82 const camCorrespondences_t & camCorrespondences1,
83 const camCorrespondences_t & camCorrespondences2,
84 const translations_t & camOffsets,
85 const rotations_t & camRotations );
90 const bearingVectors_t & bearingVectors1,
91 const bearingVectors_t & bearingVectors2,
92 const camCorrespondences_t & camCorrespondences1,
93 const camCorrespondences_t & camCorrespondences2,
94 const translations_t & camOffsets,
95 const rotations_t & camRotations,
96 const rotation_t & R12 );
101 const bearingVectors_t & bearingVectors1,
102 const bearingVectors_t & bearingVectors2,
103 const camCorrespondences_t & camCorrespondences1,
104 const camCorrespondences_t & camCorrespondences2,
105 const translations_t & camOffsets,
106 const rotations_t & camRotations,
107 const translation_t & t12,
108 const rotation_t & R12 );
113
114 //Access of correspondences
115
117 virtual bearingVector_t getBearingVector1( size_t index ) const;
119 virtual bearingVector_t getBearingVector2( size_t index ) const;
121 virtual double getWeight( size_t index ) const;
123 virtual translation_t getCamOffset1( size_t index ) const;
125 virtual rotation_t getCamRotation1( size_t index ) const;
127 virtual translation_t getCamOffset2( size_t index ) const;
129 virtual rotation_t getCamRotation2( size_t index ) const;
131 virtual size_t getNumberCorrespondences() const;
132
133protected:
154
163};
164
165}
166}
167
168#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: NoncentralRelativeAdapter.hpp:63
const bearingVectors_t & _bearingVectors2
Definition: NoncentralRelativeAdapter.hpp:141
virtual double getWeight(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual translation_t getCamOffset2(size_t index) const
const bearingVectors_t & _bearingVectors1
Definition: NoncentralRelativeAdapter.hpp:137
const camCorrespondences_t & _camCorrespondences2
Definition: NoncentralRelativeAdapter.hpp:153
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > camCorrespondences_t
Definition: NoncentralRelativeAdapter.hpp:74
const translations_t & _camOffsets
Definition: NoncentralRelativeAdapter.hpp:158
virtual bearingVector_t getBearingVector1(size_t index) const
virtual rotation_t getCamRotation1(size_t index) const
const rotations_t & _camRotations
Definition: NoncentralRelativeAdapter.hpp:162
virtual rotation_t getCamRotation2(size_t index) const
virtual translation_t getCamOffset1(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
const camCorrespondences_t & _camCorrespondences1
Definition: NoncentralRelativeAdapter.hpp:147
virtual bearingVector_t getBearingVector2(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
Definition: RelativeAdapterBase.hpp:64
opengv::translation_t _t12
Definition: RelativeAdapterBase.hpp:184
opengv::rotation_t _R12
Definition: RelativeAdapterBase.hpp:188
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
std::vector< translation_t, Eigen::aligned_allocator< translation_t > > translations_t
Definition: types.hpp:67
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition: types.hpp:75
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...