#include <PointCloudAdapterBase.hpp>

Inheritance diagram for opengv::point_cloud::PointCloudAdapterBase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PointCloudAdapterBase ()
	Constructor.

	PointCloudAdapterBase (const rotation_t &R12)
	Constructor. More...

	PointCloudAdapterBase (const translation_t &t12, const rotation_t &R12)
	Constructor. More...

virtual	~PointCloudAdapterBase ()
	Destructor.

virtual opengv::point_t	getPoint1 (size_t index) const =0
	Retrieve the 3D-point of a correspondence in frame 1. More...

virtual opengv::point_t	getPoint2 (size_t index) const =0
	Retrieve the 3D-point of a correspondence in frame 2. More...

virtual size_t	getNumberCorrespondences () const =0
	Retrieve the number of correspondences. 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	gett12 () const
	Retrieve the prior or known value for the relative position. More...

virtual void	sett12 (const translation_t &t12)
	Set the prior or known value for the relative position. More...

virtual opengv::rotation_t	getR12 () const
	Retrieve the prior or known value for the relative rotation. More...

virtual void	setR12 (const rotation_t &R12)
	Set the prior or known value for the relative rotation. More...

Public Attributes
translation_t	_t12

rotation_t	_R12

Detailed Description

The PointCloudAdapterBase is the base-class for the visitors to the point-cloud alignment methods. It provides a unified interface to opengv-methods to access point correspondences and priors or known variables for the alignment. Derived classes may hold the data in any user-specific format, and adapt to opengv-types.

Constructor & Destructor Documentation

opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase ( const rotation_t & R12 )

inline

Constructor.

Parameters

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

opengv::point_cloud::PointCloudAdapterBase::PointCloudAdapterBase	(	const translation_t &	t12,
		const rotation_t &	R12
	)

inline

Constructor.

Parameters

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

Member Function Documentation

virtual size_t opengv::point_cloud::PointCloudAdapterBase::getNumberCorrespondences ( ) const

pure virtual

Retrieve the number of correspondences.

Returns: The number of correspondences.

Implemented in opengv::point_cloud::PointCloudAdapter, and opengv::point_cloud::MAPointCloud.

virtual opengv::point_t opengv::point_cloud::PointCloudAdapterBase::getPoint1 ( size_t index ) const

pure virtual

Retrieve the 3D-point of a correspondence in frame 1.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding 3D-point.

Implemented in opengv::point_cloud::PointCloudAdapter, and opengv::point_cloud::MAPointCloud.

virtual opengv::point_t opengv::point_cloud::PointCloudAdapterBase::getPoint2 ( size_t index ) const

pure virtual

Retrieve the 3D-point of a correspondence in frame 2.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding 3D-point.

Implemented in opengv::point_cloud::PointCloudAdapter, and opengv::point_cloud::MAPointCloud.

virtual opengv::rotation_t opengv::point_cloud::PointCloudAdapterBase::getR12 ( ) const

inlinevirtual

Retrieve the prior or known value for the relative rotation.

Returns: The prior or known value for the rotation.

virtual opengv::translation_t opengv::point_cloud::PointCloudAdapterBase::gett12 ( ) const

inlinevirtual

Retrieve the prior or known value for the relative position.

Returns: The prior or known value for the position.

virtual double opengv::point_cloud::PointCloudAdapterBase::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::point_cloud::PointCloudAdapter, and opengv::point_cloud::MAPointCloud.

virtual void opengv::point_cloud::PointCloudAdapterBase::setR12 ( const rotation_t & R12 )

inlinevirtual

Set the prior or known value for the relative rotation.

Parameters

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

virtual void opengv::point_cloud::PointCloudAdapterBase::sett12 ( const translation_t & t12 )

inlinevirtual

Set the prior or known value for the relative position.

Parameters

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

Member Data Documentation

rotation_t opengv::point_cloud::PointCloudAdapterBase::_R12

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

translation_t opengv::point_cloud::PointCloudAdapterBase::_t12

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

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

include/opengv/point_cloud/PointCloudAdapterBase.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation