OpenGV
A library for solving calibrated central and non-central geometric vision problems
opengv::absolute_pose::AbsoluteMultiAdapterBase Class Referenceabstract

#include <AbsoluteMultiAdapterBase.hpp>

Inheritance diagram for opengv::absolute_pose::AbsoluteMultiAdapterBase:
opengv::absolute_pose::AbsoluteAdapterBase opengv::absolute_pose::NoncentralAbsoluteMultiAdapter

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteMultiAdapterBase ()
 Constructor.
 
 AbsoluteMultiAdapterBase (const opengv::rotation_t &R)
 Constructor. More...
 
 AbsoluteMultiAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
 Constructor. More...
 
virtual ~AbsoluteMultiAdapterBase ()
 Destructor.
 
virtual opengv::bearingVector_t getBearingVector (size_t frameIndex, size_t correspondenceIndex) const =0
 Retrieve the bearing vector of a correspondence in a certain frame. More...
 
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 correspondence, and typically is between 0 and 1. More...
 
virtual opengv::translation_t getMultiCamOffset (size_t frameIndex) const =0
 Retrieve the position of a camera seen from the viewpoint origin. More...
 
virtual opengv::rotation_t getMultiCamRotation (size_t frameIndex) const =0
 Retrieve the rotation from a camera to the viewpoint frame. More...
 
virtual opengv::point_t getPoint (size_t frameIndex, size_t correspondenceIndex) const =0
 Retrieve the world point of a correspondence. More...
 
virtual size_t getNumberCorrespondences (size_t frameIndex) const =0
 Retrieve the number of correspondences for a camera. More...
 
virtual size_t getNumberFrames () const =0
 Retrieve the number of cameras. More...
 
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. More...
 
virtual int convertMultiIndex (size_t frameIndex, size_t correspondenceIndex) const =0
 Convert a (frameIndex,correspondenceIndex)-pair into a serialized index. More...
 
virtual int multiFrameIndex (size_t index) const =0
 Get the frame-index corresponding to a serialized index. More...
 
virtual int multiCorrespondenceIndex (size_t index) const =0
 Get the correspondence-index in a camera for a serialized index. More...
 
virtual bearingVector_t getBearingVector (size_t index) const
 
virtual double getWeight (size_t index) const
 
virtual translation_t getCamOffset (size_t index) const
 
virtual rotation_t getCamRotation (size_t index) const
 
virtual point_t getPoint (size_t index) const
 
virtual size_t getNumberCorrespondences () const
 
- Public Member Functions inherited from opengv::absolute_pose::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase ()
 Constructor.
 
 AbsoluteAdapterBase (const opengv::rotation_t &R)
 Constructor. More...
 
 AbsoluteAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
 Constructor. More...
 
virtual ~AbsoluteAdapterBase ()
 Destructor.
 
virtual opengv::bearingVector_t getBearingVector (size_t index) const =0
 Retrieve the bearing vector of a correspondence. More...
 
virtual double getWeight (size_t index) const =0
 Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1. More...
 
virtual opengv::translation_t getCamOffset (size_t index) const =0
 Retrieve the position of a camera of a correspondence seen from the viewpoint origin. More...
 
virtual opengv::rotation_t getCamRotation (size_t index) const =0
 Retrieve the rotation from a camera of a correspondence to the viewpoint origin. More...
 
virtual opengv::point_t getPoint (size_t index) const =0
 Retrieve the world point of a correspondence. More...
 
virtual size_t getNumberCorrespondences () const =0
 Retrieve the number of correspondences. More...
 
opengv::translation_t gett () const
 Retrieve the prior or known value for the position. More...
 
void sett (const opengv::translation_t &t)
 Set the prior or known value for the position. More...
 
opengv::rotation_t getR () const
 Retrieve the prior or known value for the rotation. More...
 
void setR (const opengv::rotation_t &R)
 Set the prior or known value for the rotation. More...
 

Protected Attributes

opengv::translation_t _t
 
opengv::rotation_t _R
 
- Protected Attributes inherited from opengv::absolute_pose::AbsoluteAdapterBase
opengv::translation_t _t
 
opengv::rotation_t _R
 

Detailed Description

See the documentation of AbsoluteAdapterBase to understand the meaning of an AbsoluteAdapter. AbsoluteMultiAdapterBase extends the interface of AbsoluteAdapterBase by an additional frame-index for referring to a camera. Intended for non-central absolute viewpoint problems, allowing camera-wise access of correspondences. Derived classes need to implement functionalities for deriving unique serialization of multi-indices.

Constructor & Destructor Documentation

◆ AbsoluteMultiAdapterBase() [1/2]

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase ( const opengv::rotation_t R)
inline

Constructor.

Parameters
[in]RA prior or known value for the rotation from the viewpoint to the world frame.

◆ AbsoluteMultiAdapterBase() [2/2]

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase ( const opengv::translation_t t,
const opengv::rotation_t R 
)
inline

Constructor.

Parameters
[in]tA prior or known value for the position of the viewpoint seen from the world frame.
[in]RA prior or known value for the rotation from the viewpoint to the world frame.

Member Function Documentation

◆ convertMultiIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndex ( size_t  frameIndex,
size_t  correspondenceIndex 
) const
pure virtual

Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.

Parameters
[in]frameIndexThe index of the camera.
[in]correspondenceIndexThe index of the correspondence in the camera.
Returns
Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ convertMultiIndices()

virtual std::vector< int > opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndices ( const std::vector< std::vector< int > > &  multiIndices) const
pure virtual

Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices.

Parameters
[in]multiIndicesArray of (frameIndex,correspondenceIndex)-pairs.
Returns
Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getBearingVector() [1/2]

virtual opengv::bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector ( size_t  frameIndex,
size_t  correspondenceIndex 
) const
pure virtual

Retrieve the bearing vector of a correspondence in a certain frame.

Parameters
[in]frameIndexIndex of the frame.
[in]correspondenceIndexIndex of the correspondence in this frame.
Returns
The corresponding bearing vector.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getBearingVector() [2/2]

virtual bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector ( size_t  index) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamOffset()

virtual translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamOffset ( size_t  index) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamRotation()

virtual rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamRotation ( size_t  index) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getMultiCamOffset()

virtual opengv::translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamOffset ( size_t  frameIndex) const
pure virtual

Retrieve the position of a camera seen from the viewpoint origin.

Parameters
[in]frameIndexIndex of the frame.
Returns
The position of the corresponding camera seen from the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getMultiCamRotation()

virtual opengv::rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamRotation ( size_t  frameIndex) const
pure virtual

Retrieve the rotation from a camera to the viewpoint frame.

Parameters
[in]frameIndexIndex of the frame.
Returns
The rotation from the corresponding camera back to the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getNumberCorrespondences() [1/2]

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( ) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getNumberCorrespondences() [2/2]

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( size_t  frameIndex) const
pure virtual

Retrieve the number of correspondences for a camera.

Parameters
[in]frameIndexIndex of the camera.
Returns
The number of correspondences in this camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getNumberFrames()

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberFrames ( ) const
pure virtual

Retrieve the number of cameras.

Returns
The number of cameras.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getPoint() [1/2]

virtual opengv::point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint ( size_t  frameIndex,
size_t  correspondenceIndex 
) const
pure virtual

Retrieve the world point of a correspondence.

Parameters
[in]frameIndexIndex of the frame.
[in]correspondenceIndexIndex of the correspondence in this frame.
Returns
The corresponding world point.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getPoint() [2/2]

virtual point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint ( size_t  index) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getWeight() [1/2]

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight ( size_t  frameIndex,
size_t  correspondenceIndex 
) const
pure virtual

Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1.

Parameters
[in]frameIndexIndex of the frame.
[in]correspondenceIndexIndex of the correspondence in this frame.
Returns
The corresponding weight.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getWeight() [2/2]

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight ( size_t  index) const
inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ multiCorrespondenceIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiCorrespondenceIndex ( size_t  index) const
pure virtual

Get the correspondence-index in a camera for a serialized index.

Parameters
[in]indexThe serialized index.
Returns
The correspondence-index in the camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ multiFrameIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiFrameIndex ( size_t  index) const
pure virtual

Get the frame-index corresponding to a serialized index.

Parameters
[in]indexThe serialized index.
Returns
The frame index.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

Member Data Documentation

◆ _R

opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::_R
protected

The prior or known value for the rotation from the viewpoint back to the world frame. Initialized to identity if not provided.

◆ _t

opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::_t
protected

The prior or known value for the position of the viewpoint seen from the world frame. Initialized to zero if not provided.


The documentation for this class was generated from the following file: