#include <AbsoluteAdapterBase.hpp>

Inheritance diagram for opengv::absolute_pose::AbsoluteAdapterBase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AbsoluteAdapterBase ()
	Constructor.

	AbsoluteAdapterBase (const opengv::rotation_t &R)
	Constructor. More...

	AbsoluteAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
	Constructor. More...

virtual	~AbsoluteAdapterBase ()
	Destructor.

virtual opengv::bearingVector_t	getBearingVector (size_t index) const =0
	Retrieve the bearing vector of a correspondence. 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	getCamOffset (size_t index) const =0
	Retrieve the position of a camera of a correspondence seen from the viewpoint origin. More...

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

virtual opengv::point_t	getPoint (size_t index) const =0
	Retrieve the world point of a correspondence. More...

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

opengv::translation_t	gett () const
	Retrieve the prior or known value for the position. More...

void	sett (const opengv::translation_t &t)
	Set the prior or known value for the position. More...

opengv::rotation_t	getR () const
	Retrieve the prior or known value for the rotation. More...

void	setR (const opengv::rotation_t &R)
	Set the prior or known value for the rotation. More...

Protected Attributes
opengv::translation_t	_t

opengv::rotation_t	_R

Detailed Description

The AbsoluteAdapterBase is the base-class for the visitors to the central and non-central absolute pose algorithms. It provides a unified interface to opengv-methods to access bearing-vectors, world points, priors or known variables for the absolute 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::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase ( const opengv::rotation_t & R )

inline

Constructor.

Parameters

[in] R A prior or known value for the rotation from the viewpoint to the world frame.

opengv::absolute_pose::AbsoluteAdapterBase::AbsoluteAdapterBase	(	const opengv::translation_t &	t,
		const opengv::rotation_t &	R
	)

inline

Constructor.

Parameters

[in]	t	A prior or known value for the position of the viewpoint seen from the world frame.
[in]	R	A prior or known value for the rotation from the viewpoint to the world frame.

Member Function Documentation

virtual opengv::bearingVector_t opengv::absolute_pose::AbsoluteAdapterBase::getBearingVector ( size_t index ) const

pure virtual

Retrieve the bearing vector of a correspondence.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding bearing vector.

Implemented in opengv::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

virtual opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::getCamOffset ( size_t index ) const

pure virtual

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

Parameters

[in] index The serialized index of the correspondence.

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

Implemented in opengv::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

virtual opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::getCamRotation ( size_t index ) const

pure virtual

Retrieve the rotation from a camera of a correspondence 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::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

virtual size_t opengv::absolute_pose::AbsoluteAdapterBase::getNumberCorrespondences ( ) const

pure virtual

Retrieve the number of correspondences.

Returns: The number of correspondences.

Implemented in opengv::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

virtual opengv::point_t opengv::absolute_pose::AbsoluteAdapterBase::getPoint ( size_t index ) const

pure virtual

Retrieve the world point of a correspondence.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding world point.

Implemented in opengv::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::getR ( ) const

inline

Retrieve the prior or known value for the rotation.

Returns: The prior or known value for the rotation.

opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::gett ( ) const

inline

Retrieve the prior or known value for the position.

Returns: The prior or known value for the position.

virtual double opengv::absolute_pose::AbsoluteAdapterBase::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::absolute_pose::AbsoluteMultiAdapterBase, opengv::absolute_pose::NoncentralAbsoluteAdapter, opengv::absolute_pose::CentralAbsoluteAdapter, opengv::absolute_pose::MACentralAbsolute, and opengv::absolute_pose::MANoncentralAbsolute.

void opengv::absolute_pose::AbsoluteAdapterBase::setR ( const opengv::rotation_t & R )

inline

Set the prior or known value for the rotation.

Parameters

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

void opengv::absolute_pose::AbsoluteAdapterBase::sett ( const opengv::translation_t & t )

inline

Set the prior or known value for the position.

Parameters

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

Member Data Documentation

opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::_R

protected

The prior or known value for the rotation from the viewpoint back to the world frame. Initialized to identity if not provided.

opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::_t

protected

The prior or known value for the position of the viewpoint seen from the world frame. Initialized to zero if not provided.

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

include/opengv/absolute_pose/AbsoluteAdapterBase.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation