OpenGV
A library for solving calibrated central and non-central geometric vision problems
Public Member Functions | Protected Attributes | List of all members
opengv::relative_pose::MANoncentralRelativeMulti Class Reference

#include <MANoncentralRelativeMulti.hpp>

Inheritance diagram for opengv::relative_pose::MANoncentralRelativeMulti:
opengv::relative_pose::RelativeMultiAdapterBase opengv::relative_pose::RelativeAdapterBase

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW MANoncentralRelativeMulti (const std::vector< double * > &bearingVectors1, const std::vector< double * > &bearingVectors2, const double *camOffsets, const std::vector< int > &numberBearingVectors)
 Constructor. See protected class-members to understand parameters.
 
virtual ~MANoncentralRelativeMulti ()
 Destructor.
 
virtual bearingVector_t getBearingVector1 (size_t pairIndex, size_t correspondenceIndex) const
 
virtual bearingVector_t getBearingVector2 (size_t pairIndex, size_t correspondenceIndex) const
 
virtual double getWeight (size_t camIndex, size_t correspondenceIndex) const
 
virtual translation_t getCamOffset (size_t pairIndex) const
 
virtual rotation_t getCamRotation (size_t pairIndex) const
 
virtual size_t getNumberCorrespondences (size_t pairIndex) const
 
virtual size_t getNumberPairs () const
 
virtual std::vector< int > convertMultiIndices (const std::vector< std::vector< int > > &multiIndices) const
 
virtual int convertMultiIndex (size_t camIndex, size_t correspondenceIndex) const
 
virtual int multiPairIndex (size_t index) const
 
virtual int multiCorrespondenceIndex (size_t index) const
 
- Public Member Functions inherited from opengv::relative_pose::RelativeMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeMultiAdapterBase ()
 
 RelativeMultiAdapterBase (const rotation_t &R12)
 
 RelativeMultiAdapterBase (const translation_t &t12, const rotation_t &R12)
 
virtual ~RelativeMultiAdapterBase ()
 
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

std::vector< double * > _bearingVectors1
 
std::vector< double * > _bearingVectors2
 
const double * _camOffsets
 
std::vector< int > _numberBearingVectors
 
std::vector< int > multiPairIndices
 
std::vector< int > multiKeypointIndices
 
std::vector< int > singleIndexOffsets
 
- 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 RelativeMultiAdapter. This child-class is for the relative non-central case and holds data in form of pointers to matlab-types. It is meant to be used for problems involving two non-central viewpoints, but in the special case where correspondences result from two cameras with equal transformation to their two viewpoints.

Member Function Documentation

virtual int opengv::relative_pose::MANoncentralRelativeMulti::convertMultiIndex ( size_t  camIndex,
size_t  correspondenceIndex 
) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual std::vector<int> opengv::relative_pose::MANoncentralRelativeMulti::convertMultiIndices ( const std::vector< std::vector< int > > &  multiIndices) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual bearingVector_t opengv::relative_pose::MANoncentralRelativeMulti::getBearingVector1 ( size_t  pairIndex,
size_t  correspondenceIndex 
) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual bearingVector_t opengv::relative_pose::MANoncentralRelativeMulti::getBearingVector2 ( size_t  pairIndex,
size_t  correspondenceIndex 
) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual translation_t opengv::relative_pose::MANoncentralRelativeMulti::getCamOffset ( size_t  pairIndex) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual rotation_t opengv::relative_pose::MANoncentralRelativeMulti::getCamRotation ( size_t  pairIndex) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual size_t opengv::relative_pose::MANoncentralRelativeMulti::getNumberCorrespondences ( size_t  pairIndex) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual size_t opengv::relative_pose::MANoncentralRelativeMulti::getNumberPairs ( ) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual double opengv::relative_pose::MANoncentralRelativeMulti::getWeight ( size_t  camIndex,
size_t  correspondenceIndex 
) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual int opengv::relative_pose::MANoncentralRelativeMulti::multiCorrespondenceIndex ( size_t  index) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

virtual int opengv::relative_pose::MANoncentralRelativeMulti::multiPairIndex ( size_t  index) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

Member Data Documentation

std::vector<double *> opengv::relative_pose::MANoncentralRelativeMulti::_bearingVectors1
protected

A pointer to the bearing-vectors in viewpoint 1

std::vector<double *> opengv::relative_pose::MANoncentralRelativeMulti::_bearingVectors2
protected

A pointer to the bearing-vectors in viewpoint 2

const double* opengv::relative_pose::MANoncentralRelativeMulti::_camOffsets
protected

The offset from the viewpoint origin of each vector

std::vector<int> opengv::relative_pose::MANoncentralRelativeMulti::_numberBearingVectors
protected

The number of bearing-vectors in each camera

std::vector<int> opengv::relative_pose::MANoncentralRelativeMulti::multiKeypointIndices
protected

Initialized in constructor, used for (de)-serialiaztion of indices

std::vector<int> opengv::relative_pose::MANoncentralRelativeMulti::multiPairIndices
protected

Initialized in constructor, used for (de)-serialiaztion of indices

std::vector<int> opengv::relative_pose::MANoncentralRelativeMulti::singleIndexOffsets
protected

Initialized in constructor, used for (de)-serialiaztion of indices

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