OpenGV
A library for solving calibrated central and non-central geometric vision problems
CentralRelativeWeightingAdapter.hpp
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30 
39 #ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
40 #define OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_
41 
42 #include <stdlib.h>
43 #include <vector>
44 #include <opengv/types.hpp>
46 
50 namespace opengv
51 {
55 namespace relative_pose
56 {
57 
65 {
66 protected:
69 
70 public:
71  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
72 
77  const bearingVectors_t & bearingVectors1,
78  const bearingVectors_t & bearingVectors2,
79  const std::vector<double> & weights );
84  const bearingVectors_t & bearingVectors1,
85  const bearingVectors_t & bearingVectors2,
86  const std::vector<double> & weights,
87  const rotation_t & R12 );
92  const bearingVectors_t & bearingVectors1,
93  const bearingVectors_t & bearingVectors2,
94  const std::vector<double> & weights,
95  const translation_t & t12,
96  const rotation_t & R12 );
101 
102  //Access of correspondences
103 
105  virtual bearingVector_t getBearingVector1( size_t index ) const;
107  virtual bearingVector_t getBearingVector2( size_t index ) const;
109  virtual double getWeight( size_t index ) const;
111  virtual translation_t getCamOffset1( size_t index ) const;
113  virtual rotation_t getCamRotation1( size_t index ) const;
115  virtual translation_t getCamOffset2( size_t index ) const;
117  virtual rotation_t getCamRotation2( size_t index ) const;
119  virtual size_t getNumberCorrespondences() const;
120 
121 protected:
127  const std::vector<double> & _weights;
128 };
129 
130 }
131 }
132 
133 #endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEWEIGHTINGADAPTER_HPP_ */
virtual rotation_t getCamRotation2(size_t index) const
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
virtual double getWeight(size_t index) const
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
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.
Definition: CentralRelativeWeightingAdapter.hpp:64
virtual translation_t getCamOffset2(size_t index) const
opengv::rotation_t _R12
Definition: RelativeAdapterBase.hpp:188
Eigen::Vector3d translation_t
Definition: types.hpp:63
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...
virtual rotation_t getCamRotation1(size_t index) const
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
virtual translation_t getCamOffset1(size_t index) const
opengv::translation_t _t12
Definition: RelativeAdapterBase.hpp:178
Definition: RelativeAdapterBase.hpp:63
virtual bearingVector_t getBearingVector2(size_t index) const
const bearingVectors_t & _bearingVectors1
Definition: CentralRelativeWeightingAdapter.hpp:123
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
const std::vector< double > & _weights
Definition: CentralRelativeWeightingAdapter.hpp:127
virtual bearingVector_t getBearingVector1(size_t index) const
const bearingVectors_t & _bearingVectors2
Definition: CentralRelativeWeightingAdapter.hpp:125