OpenGV
A library for solving calibrated central and non-central geometric vision problems
CentralRelativeAdapter.hpp
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30
38#ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
39#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
40
41#include <stdlib.h>
42#include <vector>
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace relative_pose
55{
56
63{
64protected:
67
68public:
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70
75 const bearingVectors_t & bearingVectors1,
76 const bearingVectors_t & bearingVectors2 );
81 const bearingVectors_t & bearingVectors1,
82 const bearingVectors_t & bearingVectors2,
83 const rotation_t & R12 );
88 const bearingVectors_t & bearingVectors1,
89 const bearingVectors_t & bearingVectors2,
90 const translation_t & t12,
91 const rotation_t & R12 );
96
97 //Access of correspondences
98
100 virtual bearingVector_t getBearingVector1( size_t index ) const;
102 virtual bearingVector_t getBearingVector2( size_t index ) const;
104 virtual double getWeight( size_t index ) const;
106 virtual translation_t getCamOffset1( size_t index ) const;
108 virtual rotation_t getCamRotation1( size_t index ) const;
110 virtual translation_t getCamOffset2( size_t index ) const;
112 virtual rotation_t getCamRotation2( size_t index ) const;
114 virtual size_t getNumberCorrespondences() const;
115
116protected:
121};
122
123}
124}
125
126#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: CentralRelativeAdapter.hpp:63
virtual bearingVector_t getBearingVector2(size_t index) const
const bearingVectors_t & _bearingVectors2
Definition: CentralRelativeAdapter.hpp:120
virtual translation_t getCamOffset2(size_t index) const
CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2)
Constructor. See protected class-members to understand parameters.
virtual rotation_t getCamRotation2(size_t index) const
virtual bearingVector_t getBearingVector1(size_t index) const
virtual rotation_t getCamRotation1(size_t index) const
virtual double getWeight(size_t index) const
virtual translation_t getCamOffset1(size_t index) const
const bearingVectors_t & _bearingVectors1
Definition: CentralRelativeAdapter.hpp:118
CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
Definition: RelativeAdapterBase.hpp:64
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
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
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...