OpenGV
A library for solving calibrated central and non-central geometric vision problems
NoncentralRelativeMultiAdapter.hpp
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30
39#ifndef OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEMULTIADAPTER_HPP_
40#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEMULTIADAPTER_HPP_
41
42#include <stdlib.h>
43#include <vector>
44#include <memory>
45#include <opengv/types.hpp>
47
51namespace opengv
52{
56namespace relative_pose
57{
58
68{
69protected:
72
73public:
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75
80 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
81 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors2,
82 const translations_t & camOffsets,
83 const rotations_t & camRotations );
88
89 //camera-pair-wise access of correspondences
90
93 size_t pairIndex, size_t correspondenceIndex ) const;
96 size_t pairIndex, size_t correspondenceIndex ) const;
98 virtual double getWeight( size_t camIndex, size_t correspondenceIndex ) const;
100 virtual translation_t getCamOffset( size_t pairIndex ) const;
102 virtual rotation_t getCamRotation( size_t pairIndex ) const;
104 virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
106 virtual size_t getNumberPairs() const;
107
108 //Conversion to and from serialized indices
109
111 virtual std::vector<int> convertMultiIndices(
112 const std::vector<std::vector<int> > & multiIndices ) const;
114 virtual int convertMultiIndex(
115 size_t camIndex, size_t correspondenceIndex ) const;
117 virtual int multiPairIndex( size_t index ) const;
119 virtual int multiCorrespondenceIndex( size_t index ) const;
120
121protected:
125 std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors1;
129 std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors2;
130
139
141 std::vector<int> multiPairIndices;
143 std::vector<int> multiKeypointIndices;
145 std::vector<int> singleIndexOffsets;
146};
147
148}
149}
150
151#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEMULTIADAPTER_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition: NoncentralRelativeMultiAdapter.hpp:68
virtual translation_t getCamOffset(size_t pairIndex) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW NoncentralRelativeMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors1, std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors2, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
virtual double getWeight(size_t camIndex, size_t correspondenceIndex) const
virtual rotation_t getCamRotation(size_t pairIndex) const
const rotations_t & _camRotations
Definition: NoncentralRelativeMultiAdapter.hpp:138
virtual int multiCorrespondenceIndex(size_t index) const
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors1
Definition: NoncentralRelativeMultiAdapter.hpp:125
std::vector< int > multiPairIndices
Definition: NoncentralRelativeMultiAdapter.hpp:141
virtual int convertMultiIndex(size_t camIndex, size_t correspondenceIndex) const
const translations_t & _camOffsets
Definition: NoncentralRelativeMultiAdapter.hpp:134
std::vector< int > multiKeypointIndices
Definition: NoncentralRelativeMultiAdapter.hpp:143
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors2
Definition: NoncentralRelativeMultiAdapter.hpp:129
virtual int multiPairIndex(size_t index) const
virtual size_t getNumberCorrespondences(size_t pairIndex) const
std::vector< int > singleIndexOffsets
Definition: NoncentralRelativeMultiAdapter.hpp:145
Definition: RelativeMultiAdapterBase.hpp:68
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
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...