#include <RelativeAdapterBase.hpp>

Inheritance diagram for opengv::relative_pose::RelativeAdapterBase:

Public Member Functions
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.

virtual opengv::bearingVector_t	getBearingVector1 (size_t index) const =0
	Retrieve the bearing vector of a correspondence in viewpoint 1. More...

virtual opengv::bearingVector_t	getBearingVector2 (size_t index) const =0
	Retrieve the bearing vector of a correspondence in viewpoint 2. More...

virtual double	getWeight (size_t index) 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	getCamOffset1 (size_t index) const =0
	Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the viewpoint. More...

virtual opengv::rotation_t	getCamRotation1 (size_t index) const =0
	Retrieve the rotation from a camera of a correspondence in viewpoint 1 to the viewpoint origin. More...

virtual opengv::translation_t	getCamOffset2 (size_t index) const =0
	Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the viewpoint. More...

virtual opengv::rotation_t	getCamRotation2 (size_t index) const =0
	Retrieve the rotation from a camera of a correspondence in viewpoint 2 to the viewpoint origin. More...

virtual size_t	getNumberCorrespondences () const =0
	Retrieve the number of correspondences. More...

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
opengv::translation_t	_t12

opengv::rotation_t	_R12

Detailed Description

The RelativeAdapterBase is the base-class for the visitors to the central and non-central relative pose algorithms. It provides a unified interface to opengv-methods to access bearing-vector correspondences, priors or known variables for the relative pose, and the multi-camera configuration in the non-central case. Derived classes may hold the data in any user-specific format, and adapt to opengv-types.

Constructor & Destructor Documentation

opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase ( const rotation_t & R12 )

inline

Constructor.

Parameters

[in] R12 A prior or known value for the rotation from viewpoint 2 to viewpoint 1.

opengv::relative_pose::RelativeAdapterBase::RelativeAdapterBase	(	const translation_t &	t12,
		const rotation_t &	R12
	)

inline

Constructor.

Parameters

[in]	t12	A prior or known value for the position of viewpoint 2 seen from viewpoint 1.
[in]	R12	A prior or known value for the rotation from viewpoint 2 to viewpoint 1.

Member Function Documentation

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

pure virtual

Retrieve the bearing vector of a correspondence in viewpoint 1.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding bearing vector.

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the bearing vector of a correspondence in viewpoint 2.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding bearing vector.

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the viewpoint.

Parameters

[in] index The serialized index of the correspondence.

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

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the viewpoint.

Parameters

[in] index The serialized index of the correspondence.

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

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the rotation from a camera of a correspondence in viewpoint 1 to the viewpoint origin.

Parameters

[in] index The serialized index of the correspondence.

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

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the rotation from a camera of a correspondence in viewpoint 2 to the viewpoint origin.

Parameters

[in] index The serialized index of the correspondence.

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

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

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

pure virtual

Retrieve the number of correspondences.

Returns: The number of correspondences.

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

opengv::rotation_t opengv::relative_pose::RelativeAdapterBase::getR12 ( ) const

inline

Retrieve the prior or known value for the relative rotation.

Returns: The prior or known value for the rotation.

opengv::translation_t opengv::relative_pose::RelativeAdapterBase::gett12 ( ) const

inline

Retrieve the prior or known value for the relative position.

Returns: The prior or known value for the position.

virtual double opengv::relative_pose::RelativeAdapterBase::getWeight ( size_t index ) 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] index The serialized index of the correspondence.

Returns: The corresponding weight.

Implemented in opengv::relative_pose::RelativeMultiAdapterBase, opengv::relative_pose::NoncentralRelativeAdapter, opengv::relative_pose::CentralRelativeWeightingAdapter, opengv::relative_pose::CentralRelativeAdapter, opengv::relative_pose::MANoncentralRelative, and opengv::relative_pose::MACentralRelative.

void opengv::relative_pose::RelativeAdapterBase::setR12 ( const opengv::rotation_t & R12 )

inline

Set the prior or known value for the relative rotation.

Parameters

[in] R12 The prior or known value for the rotation.

void opengv::relative_pose::RelativeAdapterBase::sett12 ( const opengv::translation_t & t12 )

inline

Set the prior or known value for the relative position.

Parameters

[in] t12 The prior or known value for the position.

Member Data Documentation

opengv::rotation_t opengv::relative_pose::RelativeAdapterBase::_R12

protected

Prior or known value for the rotation from viewpoint 2 back to viewpoint 1. Initialized to identity if not provided.

opengv::translation_t opengv::relative_pose::RelativeAdapterBase::_t12

protected

Prior or known value for the position of viewpoint 2 seen from viewpoint 1. Initialized to zero if not provided.

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

include/opengv/relative_pose/RelativeAdapterBase.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation