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 
49 namespace opengv
50 {
54 namespace absolute_pose
55 {
56 
63 {
64 protected:
67 
68 public:
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 );
95  virtual ~CentralAbsoluteAdapter();
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 
112 protected:
116  const points_t & _points;
117 };
118 
119 }
120 }
121 
122 #endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_ */
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:164
const points_t & _points
Definition: CentralAbsoluteAdapter.hpp:116
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
virtual opengv::point_t getPoint(size_t index) const
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms...
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
const bearingVectors_t & _bearingVectors
Definition: CentralAbsoluteAdapter.hpp:114
Definition: CentralAbsoluteAdapter.hpp:62
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
virtual size_t getNumberCorrespondences() const
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
virtual opengv::translation_t getCamOffset(size_t index) const
std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
Definition: types.hpp:127
virtual double getWeight(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points)
Constructor. See protected class-members to understand parameters.
virtual opengv::rotation_t getCamRotation(size_t index) const
Eigen::Vector3d point_t
Definition: types.hpp:123
virtual opengv::bearingVector_t getBearingVector(size_t index) const
Definition: AbsoluteAdapterBase.hpp:63