OpenGV
A library for solving calibrated central and non-central geometric vision problems
CentralAbsoluteAdapter.hpp
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30
38#ifndef OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
39#define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_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
75 const bearingVectors_t & bearingVectors,
76 const points_t & points );
81 const bearingVectors_t & bearingVectors,
82 const points_t & points,
83 const rotation_t & R );
88 const bearingVectors_t & bearingVectors,
89 const points_t & points,
90 const translation_t & t,
91 const rotation_t & R );
96
97 //Access of correspondences
98
100 virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
102 virtual double getWeight( size_t index ) const;
104 virtual opengv::translation_t getCamOffset( size_t index ) const;
106 virtual opengv::rotation_t getCamRotation( size_t index ) const;
108 virtual opengv::point_t getPoint( size_t index ) const;
110 virtual size_t getNumberCorrespondences() const;
111
112protected:
117};
118
119}
120}
121
122#endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_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: CentralAbsoluteAdapter.hpp:63
virtual double getWeight(size_t index) const
virtual opengv::point_t getPoint(size_t index) const
const bearingVectors_t & _bearingVectors
Definition: CentralAbsoluteAdapter.hpp:114
const points_t & _points
Definition: CentralAbsoluteAdapter.hpp:116
virtual opengv::rotation_t getCamRotation(size_t index) const
virtual opengv::bearingVector_t getBearingVector(size_t index) const
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points)
Constructor. See protected class-members to understand parameters.
virtual opengv::translation_t getCamOffset(size_t index) const
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const translation_t &t, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
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
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
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...