39#ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
40#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
55namespace relative_pose
71 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79 const std::vector<double> & weights );
86 const std::vector<double> & weights,
94 const std::vector<double> & weights,
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: CentralRelativeWeightingAdapter.hpp:65
virtual bearingVector_t getBearingVector2(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeWeightingAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const std::vector< double > &weights)
Constructor. See protected class-members to understand parameters.
virtual translation_t getCamOffset2(size_t index) const
const bearingVectors_t & _bearingVectors2
Definition: CentralRelativeWeightingAdapter.hpp:125
virtual size_t getNumberCorrespondences() const
virtual double getWeight(size_t index) const
virtual translation_t getCamOffset1(size_t index) const
CentralRelativeWeightingAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const std::vector< double > &weights, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
const bearingVectors_t & _bearingVectors1
Definition: CentralRelativeWeightingAdapter.hpp:123
virtual ~CentralRelativeWeightingAdapter()
Destructor.
CentralRelativeWeightingAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const std::vector< double > &weights, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual bearingVector_t getBearingVector1(size_t index) const
const std::vector< double > & _weights
Definition: CentralRelativeWeightingAdapter.hpp:127
virtual rotation_t getCamRotation1(size_t index) const
virtual rotation_t getCamRotation2(size_t index) const
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...