OpenGV
A library for solving calibrated central and non-central geometric vision problems
MACentralAbsolute.hpp
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30 
38 #ifndef OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
39 #define OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_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 double * points,
76  const double * bearingVectors,
77  int numberPoints,
78  int numberBearingVectors );
79 
83  virtual ~MACentralAbsolute();
84 
85  //Access of correspondences
86 
88  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
90  virtual double getWeight( size_t index ) const;
92  virtual opengv::translation_t getCamOffset( size_t index ) const;
94  virtual opengv::rotation_t getCamRotation( size_t index ) const;
96  virtual opengv::point_t getPoint( size_t index ) const;
98  virtual size_t getNumberCorrespondences() const;
99 
100 protected:
101 
103  const double * _points;
105  const double * _bearingVectors;
110 };
111 
112 }
113 }
114 
115 #endif /* OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_ */
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:164
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:47
virtual opengv::bearingVector_t getBearingVector(size_t index) const
virtual opengv::point_t getPoint(size_t index) const
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms...
virtual double getWeight(size_t index) const
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
const double * _points
Definition: MACentralAbsolute.hpp:103
Definition: MACentralAbsolute.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...
virtual size_t getNumberCorrespondences() const
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
virtual opengv::translation_t getCamOffset(size_t index) const
int _numberPoints
Definition: MACentralAbsolute.hpp:107
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
virtual opengv::rotation_t getCamRotation(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MACentralAbsolute(const double *points, const double *bearingVectors, int numberPoints, int numberBearingVectors)
Constructor. See protected class-members to understand parameters.
const double * _bearingVectors
Definition: MACentralAbsolute.hpp:105
Eigen::Vector3d point_t
Definition: types.hpp:123
int _numberBearingVectors
Definition: MACentralAbsolute.hpp:109
Definition: AbsoluteAdapterBase.hpp:63