OpenGV
A library for solving calibrated central and non-central geometric vision problems
AbsoluteAdapterBase.hpp
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30 
37 #ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
38 #define OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
39 
40 #include <stdlib.h>
41 #include <vector>
42 #include <opengv/types.hpp>
43 
47 namespace opengv
48 {
52 namespace absolute_pose
53 {
54 
64 {
65 public:
66  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 
72  _t(Eigen::Vector3d::Zero()),
73  _R(Eigen::Matrix3d::Identity()) {};
80  _t(Eigen::Vector3d::Zero()),
81  _R(R) {};
90  const opengv::translation_t & t,
91  const opengv::rotation_t & R ) :
92  _t(t),
93  _R(R) {};
97  virtual ~AbsoluteAdapterBase() {};
98 
99  //Access of correspondences
100 
106  virtual opengv::bearingVector_t getBearingVector(size_t index ) const = 0;
114  virtual double getWeight( size_t index ) const = 0;
122  virtual opengv::translation_t getCamOffset( size_t index ) const = 0;
130  virtual opengv::rotation_t getCamRotation( size_t index ) const = 0;
136  virtual opengv::point_t getPoint( size_t index ) const = 0;
141  virtual size_t getNumberCorrespondences() const = 0;
142 
143  //Access of priors or known values
144 
149  opengv::translation_t gett() const { return _t; };
154  void sett(const opengv::translation_t & t) { _t = t; };
159  opengv::rotation_t getR() const { return _R; };
164  void setR(const opengv::rotation_t & R) { _R = R; };
165 
166 protected:
175 
176 };
177 
178 }
179 };
180 
181 #endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_ */
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:164
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
virtual opengv::rotation_t getCamRotation(size_t index) const =0
Retrieve the rotation from a camera of a correspondence to the viewpoint origin.
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
AbsoluteAdapterBase(const opengv::translation_t &t, const opengv::rotation_t &R)
Constructor.
Definition: AbsoluteAdapterBase.hpp:89
Eigen::Vector3d translation_t
Definition: types.hpp:63
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
opengv::translation_t gett() const
Retrieve the prior or known value for the position.
Definition: AbsoluteAdapterBase.hpp:149
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
void sett(const opengv::translation_t &t)
Set the prior or known value for the position.
Definition: AbsoluteAdapterBase.hpp:154
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase()
Constructor.
Definition: AbsoluteAdapterBase.hpp:71
virtual opengv::point_t getPoint(size_t index) const =0
Retrieve the world point of a correspondence.
virtual opengv::bearingVector_t getBearingVector(size_t index) const =0
Retrieve the bearing vector of a correspondence.
void setR(const opengv::rotation_t &R)
Set the prior or known value for the rotation.
Definition: AbsoluteAdapterBase.hpp:164
virtual ~AbsoluteAdapterBase()
Destructor.
Definition: AbsoluteAdapterBase.hpp:97
opengv::rotation_t getR() const
Retrieve the prior or known value for the rotation.
Definition: AbsoluteAdapterBase.hpp:159
Eigen::Vector3d point_t
Definition: types.hpp:123
virtual opengv::translation_t getCamOffset(size_t index) const =0
Retrieve the position of a camera of a correspondence seen from the viewpoint origin.
Definition: AbsoluteAdapterBase.hpp:63
AbsoluteAdapterBase(const opengv::rotation_t &R)
Constructor.
Definition: AbsoluteAdapterBase.hpp:79