#include <AbsoluteMultiAdapterBase.hpp>

Inheritance diagram for opengv::absolute_pose::AbsoluteMultiAdapterBase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AbsoluteMultiAdapterBase ()
	Constructor.

	AbsoluteMultiAdapterBase (const opengv::rotation_t &R)
	Constructor. More...

	AbsoluteMultiAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
	Constructor. More...

virtual	~AbsoluteMultiAdapterBase ()
	Destructor.

virtual opengv::bearingVector_t	getBearingVector (size_t frameIndex, size_t correspondenceIndex) const =0
	Retrieve the bearing vector of a correspondence in a certain frame. More...

virtual double	getWeight (size_t frameIndex, size_t correspondenceIndex) const =0
	Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1. More...

virtual opengv::translation_t	getMultiCamOffset (size_t frameIndex) const =0
	Retrieve the position of a camera seen from the viewpoint origin. More...

virtual opengv::rotation_t	getMultiCamRotation (size_t frameIndex) const =0
	Retrieve the rotation from a camera to the viewpoint frame. More...

virtual opengv::point_t	getPoint (size_t frameIndex, size_t correspondenceIndex) const =0
	Retrieve the world point of a correspondence. More...

virtual size_t	getNumberCorrespondences (size_t frameIndex) const =0
	Retrieve the number of correspondences for a camera. More...

virtual size_t	getNumberFrames () const =0
	Retrieve the number of cameras. More...

virtual std::vector< int >	convertMultiIndices (const std::vector< std::vector< int > > &multiIndices) const =0
	Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices. More...

virtual int	convertMultiIndex (size_t frameIndex, size_t correspondenceIndex) const =0
	Convert a (frameIndex,correspondenceIndex)-pair into a serialized index. More...

virtual int	multiFrameIndex (size_t index) const =0
	Get the frame-index corresponding to a serialized index. More...

virtual int	multiCorrespondenceIndex (size_t index) const =0
	Get the correspondence-index in a camera for a serialized index. More...

virtual bearingVector_t	getBearingVector (size_t index) const

virtual double	getWeight (size_t index) const

virtual translation_t	getCamOffset (size_t index) const

virtual rotation_t	getCamRotation (size_t index) const

virtual point_t	getPoint (size_t index) const

virtual size_t	getNumberCorrespondences () const

Public Member Functions inherited from opengv::absolute_pose::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AbsoluteAdapterBase ()
	Constructor.

	AbsoluteAdapterBase (const opengv::rotation_t &R)
	Constructor. More...

	AbsoluteAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
	Constructor. More...

virtual	~AbsoluteAdapterBase ()
	Destructor.

opengv::translation_t	gett () const
	Retrieve the prior or known value for the position. More...

void	sett (const opengv::translation_t &t)
	Set the prior or known value for the position. More...

opengv::rotation_t	getR () const
	Retrieve the prior or known value for the rotation. More...

void	setR (const opengv::rotation_t &R)
	Set the prior or known value for the rotation. More...

Additional Inherited Members
Protected Attributes inherited from opengv::absolute_pose::AbsoluteAdapterBase
opengv::translation_t	_t

opengv::rotation_t	_R

Detailed Description

See the documentation of AbsoluteAdapterBase to understand the meaning of an AbsoluteAdapter. AbsoluteMultiAdapterBase extends the interface of AbsoluteAdapterBase by an additional frame-index for referring to a camera. Intended for non-central absolute viewpoint problems, allowing camera-wise access of correspondences. Derived classes need to implement functionalities for deriving unique serialization of multi-indices.

Constructor & Destructor Documentation

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase ( const opengv::rotation_t & R )

inline

Constructor.

Parameters

[in] R A prior or known value for the rotation from the viewpoint to the world frame.

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase	(	const opengv::translation_t &	t,
		const opengv::rotation_t &	R
	)

inline

Constructor.

Parameters

[in]	t	A prior or known value for the position of the viewpoint seen from the world frame.
[in]	R	A prior or known value for the rotation from the viewpoint to the world frame.

Member Function Documentation

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndex	(	size_t	frameIndex,
		size_t	correspondenceIndex
	)		const

pure virtual

Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.

Parameters

[in]	frameIndex	The index of the camera.
[in]	correspondenceIndex	The index of the correspondence in the camera.

Returns: Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual std::vector<int> opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndices ( const std::vector< std::vector< int > > & multiIndices ) const

pure virtual

Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices.

Parameters

[in] multiIndices Array of (frameIndex,correspondenceIndex)-pairs.

Returns: Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual opengv::bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector	(	size_t	frameIndex,
		size_t	correspondenceIndex
	)		const

pure virtual

Retrieve the bearing vector of a correspondence in a certain frame.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding bearing vector.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamOffset ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamRotation ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual opengv::translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamOffset ( size_t frameIndex ) const

pure virtual

Retrieve the position of a camera seen from the viewpoint origin.

Parameters

[in] frameIndex Index of the frame.

Returns: The position of the corresponding camera seen from the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual opengv::rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamRotation ( size_t frameIndex ) const

pure virtual

Retrieve the rotation from a camera to the viewpoint frame.

Parameters

[in] frameIndex Index of the frame.

Returns: The rotation from the corresponding camera back to the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( size_t frameIndex ) const

pure virtual

Retrieve the number of correspondences for a camera.

Parameters

[in] frameIndex Index of the camera.

Returns: The number of correspondences in this camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberFrames ( ) const

pure virtual

Retrieve the number of cameras.

Returns: The number of cameras.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual opengv::point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint	(	size_t	frameIndex,
		size_t	correspondenceIndex
	)		const

pure virtual

Retrieve the world point of a correspondence.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding world point.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight	(	size_t	frameIndex,
		size_t	correspondenceIndex
	)		const

pure virtual

Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding weight.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiCorrespondenceIndex ( size_t index ) const

pure virtual

Get the correspondence-index in a camera for a serialized index.

Parameters

[in] index The serialized index.

Returns: The correspondence-index in the camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiFrameIndex ( size_t index ) const

pure virtual

Get the frame-index corresponding to a serialized index.

Parameters

[in] index The serialized index.

Returns: The frame index.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

The documentation for this class was generated from the following file:

include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation