opengv::relative_pose::NoncentralRelativeAdapter Class Reference

#include <NoncentralRelativeAdapter.hpp>

Inheritance diagram for opengv::relative_pose::NoncentralRelativeAdapter:

Public Member Functions
	NoncentralRelativeAdapter (const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations)
	Constructor. See protected class-members to understand parameters.
	NoncentralRelativeAdapter (const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R12)
	Constructor. See protected class-members to understand parameters.
	NoncentralRelativeAdapter (const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t12, const rotation_t &R12)
	Constructor. See protected class-members to understand parameters.
virtual	~NoncentralRelativeAdapter ()
	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...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int >	camCorrespondences_t

Protected Attributes
const bearingVectors_t &	_bearingVectors1
const bearingVectors_t &	_bearingVectors2
const camCorrespondences_t &	_camCorrespondences1
const camCorrespondences_t &	_camCorrespondences2
const translations_t &	_camOffsets
const rotations_t &	_camRotations
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 non-central case and holds data in form of references to opengv-types.

Member Function Documentation

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

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

virtual

See parent-class

Implements opengv::relative_pose::RelativeAdapterBase.

Member Data Documentation

const bearingVectors_t& opengv::relative_pose::NoncentralRelativeAdapter::_bearingVectors1

protected

Reference to bearing-vectors in viewpoint 1. (expressed in their individual cameras)

const bearingVectors_t& opengv::relative_pose::NoncentralRelativeAdapter::_bearingVectors2

protected

Reference to bearing-vectors in viewpoint 2. (expressed in their individual cameras)

const camCorrespondences_t& opengv::relative_pose::NoncentralRelativeAdapter::_camCorrespondences1

protected

Reference to an array of camera-indices for the bearing vectors in viewpoint 1. Length equals to number of bearing-vectors in viewpoint 1, and elements are indices of cameras in the _camOffsets and _camRotations arrays.

const camCorrespondences_t& opengv::relative_pose::NoncentralRelativeAdapter::_camCorrespondences2

protected

Reference to an array of camera-indices for the bearing vectors in viewpoint 2. Length equals to number of bearing-vectors in viewpoint 2, and elements are indices of cameras in the _camOffsets and _camRotations arrays.

const translations_t& opengv::relative_pose::NoncentralRelativeAdapter::_camOffsets

protected

Reference to positions of the different cameras seen from their viewpoint.

const rotations_t& opengv::relative_pose::NoncentralRelativeAdapter::_camRotations

protected

Reference to rotations from the different cameras back to their viewpoint.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<int> opengv::relative_pose::NoncentralRelativeAdapter::camCorrespondences_t

A type defined for the camera-correspondences, see protected class-members

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

• include/opengv/relative_pose/NoncentralRelativeAdapter.hpp