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::NoncentralRelativeMultiAdapter Class Reference

#include <NoncentralRelativeMultiAdapter.hpp>

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

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW NoncentralRelativeMultiAdapter (std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors1, std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors2, const translations_t &camOffsets, const rotations_t &camRotations)
 Constructor. See protected class-members to understand parameters.
 
virtual ~NoncentralRelativeMultiAdapter ()
 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< std::shared_ptr< bearingVectors_t > > _bearingVectors1
 
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors2
 
const translations_t & _camOffsets
 
const rotations_t & _camRotations
 
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 references to opengv-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::NoncentralRelativeMultiAdapter::convertMultiIndex ( size_t  camIndex,
size_t  correspondenceIndex 
) const
virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

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

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

Member Data Documentation

std::vector<std::shared_ptr<bearingVectors_t> > opengv::relative_pose::NoncentralRelativeMultiAdapter::_bearingVectors1
protected

References to multiple sets of bearing-vectors (the ones from camera 1 of each pair, and expressed in there).

std::vector<std::shared_ptr<bearingVectors_t> > opengv::relative_pose::NoncentralRelativeMultiAdapter::_bearingVectors2
protected

References to multiple sets of bearing-vectors (the ones from camera 2 of each pair, and expressed in there).

const translations_t& opengv::relative_pose::NoncentralRelativeMultiAdapter::_camOffsets
protected

Reference to positions of the different cameras seen from the viewpoints.

const rotations_t& opengv::relative_pose::NoncentralRelativeMultiAdapter::_camRotations
protected

Reference to rotations from the different cameras back to the viewpoints.

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

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

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

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

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

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

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