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

#include <NoncentralAbsoluteAdapter.hpp>

Inheritance diagram for opengv::absolute_pose::NoncentralAbsoluteAdapter:
opengv::absolute_pose::AbsoluteAdapterBase

Public Member Functions

 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.
 
 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.
 
 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 ~NoncentralAbsoluteAdapter ()
 Destructor.
 
virtual opengv::bearingVector_t getBearingVector (size_t index) const
 
virtual double getWeight (size_t index) const
 
virtual opengv::translation_t getCamOffset (size_t index) const
 
virtual opengv::rotation_t getCamRotation (size_t index) const
 
virtual opengv::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...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > camCorrespondences_t
 

Protected Attributes

const bearingVectors_t_bearingVectors
 
const camCorrespondences_t_camCorrespondences
 
const points_t_points
 
const translations_t_camOffsets
 
const rotations_t_camRotations
 
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

Check the documentation of the parent-class to understand the meaning of an AbsoluteAdapter. This child-class is for the non-central case and holds data in form of references to opengv-types.

Member Function Documentation

◆ getBearingVector()

virtual opengv::bearingVector_t opengv::absolute_pose::NoncentralAbsoluteAdapter::getBearingVector ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamOffset()

virtual opengv::translation_t opengv::absolute_pose::NoncentralAbsoluteAdapter::getCamOffset ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamRotation()

virtual opengv::rotation_t opengv::absolute_pose::NoncentralAbsoluteAdapter::getCamRotation ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getNumberCorrespondences()

virtual size_t opengv::absolute_pose::NoncentralAbsoluteAdapter::getNumberCorrespondences ( ) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getPoint()

virtual opengv::point_t opengv::absolute_pose::NoncentralAbsoluteAdapter::getPoint ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getWeight()

virtual double opengv::absolute_pose::NoncentralAbsoluteAdapter::getWeight ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

Member Data Documentation

◆ _bearingVectors

const bearingVectors_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_bearingVectors
protected

Reference to the bearing-vectors expressed in the camera-frames

◆ _camCorrespondences

const camCorrespondences_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camCorrespondences
protected

Reference to an array of camera-indices for the bearing vectors. Length equals to number of bearing-vectors, and elements are indices of cameras in the _camOffsets and _camRotations arrays.

◆ _camOffsets

const translations_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camOffsets
protected

Reference to positions of the different cameras seen from the viewpoint.

◆ _camRotations

const rotations_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camRotations
protected

Reference to rotations from the different cameras back to the viewpoint.

◆ _points

const points_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_points
protected

Reference to the points expressed in the world-frame.

◆ _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.

◆ camCorrespondences_t

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<int> opengv::absolute_pose::NoncentralAbsoluteAdapter::camCorrespondences_t

A type defined for the camera-correspondences, see protected class-members


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