OpenGV
A library for solving calibrated central and non-central geometric vision problems
opengv::relative_pose::CentralRelativeWeightingAdapter Class Reference

#include <CentralRelativeWeightingAdapter.hpp>

Inheritance diagram for opengv::relative_pose::CentralRelativeWeightingAdapter:
opengv::relative_pose::RelativeAdapterBase

Public Member Functions

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.
 
 CentralRelativeWeightingAdapter (const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const std::vector< double > &weights, const rotation_t &R12)
 Constructor. See protected class-members to understand parameters.
 
 CentralRelativeWeightingAdapter (const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const std::vector< double > &weights, const translation_t &t12, const rotation_t &R12)
 Constructor. See protected class-members to understand parameters.
 
virtual ~CentralRelativeWeightingAdapter ()
 Destructor.
 
virtual bearingVector_t getBearingVector1 (size_t index) const
 
virtual bearingVector_t getBearingVector2 (size_t index) const
 
virtual double getWeight (size_t index) const
 
virtual translation_t getCamOffset1 (size_t index) const
 
virtual rotation_t getCamRotation1 (size_t index) const
 
virtual translation_t getCamOffset2 (size_t index) const
 
virtual rotation_t getCamRotation2 (size_t index) const
 
virtual size_t getNumberCorrespondences () const
 
- Public Member Functions inherited from opengv::relative_pose::RelativeAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeAdapterBase ()
 Constructor.
 
 RelativeAdapterBase (const rotation_t &R12)
 Constructor. More...
 
 RelativeAdapterBase (const translation_t &t12, const rotation_t &R12)
 Constructor. More...
 
virtual ~RelativeAdapterBase ()
 Destructor.
 
opengv::translation_t gett12 () const
 Retrieve the prior or known value for the relative position. More...
 
void sett12 (const opengv::translation_t &t12)
 Set the prior or known value for the relative position. More...
 
opengv::rotation_t getR12 () const
 Retrieve the prior or known value for the relative rotation. More...
 
void setR12 (const opengv::rotation_t &R12)
 Set the prior or known value for the relative rotation. More...
 

Protected Attributes

const bearingVectors_t_bearingVectors1
 
const bearingVectors_t_bearingVectors2
 
const std::vector< double > & _weights
 
- Protected Attributes inherited from opengv::relative_pose::RelativeAdapterBase
opengv::translation_t _t12
 
opengv::rotation_t _R12
 

Detailed Description

Check the documentation of the parent-class to understand the meaning of a RelativeAdapter. This child-class is for the central case and holds data in form of references to opengv-types. It also includes weights for the correspondences.

Member Function Documentation

virtual bearingVector_t opengv::relative_pose::CentralRelativeWeightingAdapter::getBearingVector1 ( size_t  index) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

virtual bearingVector_t opengv::relative_pose::CentralRelativeWeightingAdapter::getBearingVector2 ( size_t  index) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

virtual translation_t opengv::relative_pose::CentralRelativeWeightingAdapter::getCamOffset1 ( size_t  index) const
virtual

See parent-class. Returns zero for this adapter.

Implements opengv::relative_pose::RelativeAdapterBase.

virtual translation_t opengv::relative_pose::CentralRelativeWeightingAdapter::getCamOffset2 ( size_t  index) const
virtual

See parent-class. Returns zero for this adapter.

Implements opengv::relative_pose::RelativeAdapterBase.

virtual rotation_t opengv::relative_pose::CentralRelativeWeightingAdapter::getCamRotation1 ( size_t  index) const
virtual

See parent-class. Returns identity for this adapter.

Implements opengv::relative_pose::RelativeAdapterBase.

virtual rotation_t opengv::relative_pose::CentralRelativeWeightingAdapter::getCamRotation2 ( size_t  index) const
virtual

See parent-class. Returns identity for this adapter.

Implements opengv::relative_pose::RelativeAdapterBase.

virtual size_t opengv::relative_pose::CentralRelativeWeightingAdapter::getNumberCorrespondences ( ) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

virtual double opengv::relative_pose::CentralRelativeWeightingAdapter::getWeight ( size_t  index) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

Member Data Documentation

const bearingVectors_t& opengv::relative_pose::CentralRelativeWeightingAdapter::_bearingVectors1
protected

Reference to bearing-vectors expressed in viewpoint 1.

const bearingVectors_t& opengv::relative_pose::CentralRelativeWeightingAdapter::_bearingVectors2
protected

Reference to bearing-vectors expressed in viewpoint 2.

const std::vector<double>& opengv::relative_pose::CentralRelativeWeightingAdapter::_weights
protected

Reference to an array of weights. Indexing follows _bearingVectors2.


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