OpenGV
A library for solving calibrated central and non-central geometric vision problems
NoncentralAbsoluteAdapter.hpp
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30
38#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_
39#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_
40
41#include <stdlib.h>
42#include <vector>
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace absolute_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 & bearingVectors,
81 const camCorrespondences_t & camCorrespondences,
82 const points_t & points,
83 const translations_t & camOffsets,
84 const rotations_t & camRotations );
89 const bearingVectors_t & bearingVectors,
90 const camCorrespondences_t & camCorrespondences,
91 const points_t & points,
92 const translations_t & camOffsets,
93 const rotations_t & camRotations,
94 const rotation_t & R );
99 const bearingVectors_t & bearingVectors,
100 const camCorrespondences_t & camCorrespondences,
101 const points_t & points,
102 const translations_t & camOffsets,
103 const rotations_t & camRotations,
104 const translation_t & t,
105 const rotation_t & R );
110
111 //Access of correspondences
112
114 virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
116 virtual double getWeight( size_t index ) const;
118 virtual opengv::translation_t getCamOffset( size_t index ) const;
120 virtual opengv::rotation_t getCamRotation( size_t index ) const;
122 virtual opengv::point_t getPoint( size_t index ) const;
124 virtual size_t getNumberCorrespondences() const;
125
126protected:
136
145};
146
147}
148};
149
150#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Definition: AbsoluteAdapterBase.hpp:64
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:170
Definition: NoncentralAbsoluteAdapter.hpp:63
virtual opengv::point_t getPoint(size_t index) const
const rotations_t & _camRotations
Definition: NoncentralAbsoluteAdapter.hpp:144
const translations_t & _camOffsets
Definition: NoncentralAbsoluteAdapter.hpp:140
virtual opengv::bearingVector_t getBearingVector(size_t index) const
NoncentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
virtual opengv::translation_t getCamOffset(size_t index) const
const bearingVectors_t & _bearingVectors
Definition: NoncentralAbsoluteAdapter.hpp:128
const camCorrespondences_t & _camCorrespondences
Definition: NoncentralAbsoluteAdapter.hpp:133
NoncentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
virtual opengv::rotation_t getCamRotation(size_t index) const
const points_t & _points
Definition: NoncentralAbsoluteAdapter.hpp:135
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > camCorrespondences_t
Definition: NoncentralAbsoluteAdapter.hpp:74
NoncentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
virtual double getWeight(size_t index) const
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::Vector3d point_t
Definition: types.hpp:123
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
std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
Definition: types.hpp:127
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...