OpenGV
A library for solving calibrated central and non-central geometric vision problems
MANoncentralRelativeMulti.hpp
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2 * Author: Laurent Kneip *
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30
39#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
40#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
41
42#include <stdlib.h>
43#include <vector>
44#include <opengv/types.hpp>
46
50namespace opengv
51{
55namespace relative_pose
56{
57
67{
68protected:
71
72public:
73 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74
79 const std::vector<double*> & bearingVectors1,
80 const std::vector<double*> & bearingVectors2,
81 const double * camOffsets,
82 const std::vector<int> & numberBearingVectors );
87
88 //camera-pair-wise access of correspondences
89
92 size_t pairIndex, size_t correspondenceIndex ) const;
95 size_t pairIndex, size_t correspondenceIndex ) const;
97 virtual double getWeight( size_t camIndex, size_t correspondenceIndex ) const;
99 virtual translation_t getCamOffset( size_t pairIndex ) const;
101 virtual rotation_t getCamRotation( size_t pairIndex ) const;
103 virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
105 virtual size_t getNumberPairs() const;
106
107 //Conversion to and from serialized indices
108
110 virtual std::vector<int> convertMultiIndices(
111 const std::vector<std::vector<int> > & multiIndices ) const;
113 virtual int convertMultiIndex(
114 size_t camIndex, size_t correspondenceIndex ) const;
116 virtual int multiPairIndex( size_t index ) const;
118 virtual int multiCorrespondenceIndex( size_t index ) const;
119
120protected:
122 std::vector<double *> _bearingVectors1;
123
125 std::vector<double *> _bearingVectors2;
126
128 const double * _camOffsets;
129
131 std::vector<int> _numberBearingVectors;
132
134 std::vector<int> multiPairIndices;
136 std::vector<int> multiKeypointIndices;
138 std::vector<int> singleIndexOffsets;
139};
140
141}
142}
143
144#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition: MANoncentralRelativeMulti.hpp:67
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const
virtual rotation_t getCamRotation(size_t pairIndex) const
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
std::vector< int > multiPairIndices
Definition: MANoncentralRelativeMulti.hpp:134
virtual int multiCorrespondenceIndex(size_t index) const
std::vector< double * > _bearingVectors1
Definition: MANoncentralRelativeMulti.hpp:122
std::vector< int > multiKeypointIndices
Definition: MANoncentralRelativeMulti.hpp:136
const double * _camOffsets
Definition: MANoncentralRelativeMulti.hpp:128
virtual double getWeight(size_t camIndex, size_t correspondenceIndex) const
std::vector< int > singleIndexOffsets
Definition: MANoncentralRelativeMulti.hpp:138
virtual int multiPairIndex(size_t index) const
virtual int convertMultiIndex(size_t camIndex, size_t correspondenceIndex) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MANoncentralRelativeMulti(const std::vector< double * > &bearingVectors1, const std::vector< double * > &bearingVectors2, const double *camOffsets, const std::vector< int > &numberBearingVectors)
Constructor. See protected class-members to understand parameters.
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const
virtual translation_t getCamOffset(size_t pairIndex) const
std::vector< int > _numberBearingVectors
Definition: MANoncentralRelativeMulti.hpp:131
std::vector< double * > _bearingVectors2
Definition: MANoncentralRelativeMulti.hpp:125
virtual size_t getNumberCorrespondences(size_t pairIndex) const
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
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...