OpenGV
A library for solving calibrated central and non-central geometric vision problems
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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 
49 namespace opengv
50 {
54 namespace relative_pose
55 {
56 
63 {
64 protected:
67 
68 public:
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 );
95  virtual ~CentralRelativeAdapter();
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 
116 protected:
121 };
122 
123 }
124 }
125 
126 #endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_ */
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
Definition: CentralRelativeAdapter.hpp:62
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
virtual bearingVector_t getBearingVector1(size_t index) const
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
virtual rotation_t getCamRotation2(size_t index) const
virtual size_t getNumberCorrespondences() const
virtual translation_t getCamOffset1(size_t index) const
const bearingVectors_t & _bearingVectors2
Definition: CentralRelativeAdapter.hpp:120
opengv::rotation_t _R12
Definition: RelativeAdapterBase.hpp:188
const bearingVectors_t & _bearingVectors1
Definition: CentralRelativeAdapter.hpp:118
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_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2)
Constructor. See protected class-members to understand parameters.
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
virtual double getWeight(size_t index) const
opengv::translation_t _t12
Definition: RelativeAdapterBase.hpp:178
Definition: RelativeAdapterBase.hpp:63
virtual rotation_t getCamRotation1(size_t index) const
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
virtual translation_t getCamOffset2(size_t index) const
virtual bearingVector_t getBearingVector2(size_t index) const