#include <RelativeMultiAdapterBase.hpp>

Inheritance diagram for opengv::relative_pose::RelativeMultiAdapterBase:

Public Member Functions
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 pairIndex, size_t correspondenceIndex) const =0
	Retrieve the bearing vector of a correspondence in camera 1 of a pair. More...

virtual bearingVector_t	getBearingVector2 (size_t pairIndex, size_t correspondenceIndex) const =0
	Retrieve the bearing vector of a correspondence in camera 2 of a pair. More...

virtual double	getWeight (size_t pairIndex, size_t correspondenceIndex) 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 translation_t	getCamOffset (size_t pairIndex) const =0
	Retrieve the position of the cameras of a camera-pair seen from the origin of the viewpoints (assumed to be the same in both viewpoints). More...

virtual rotation_t	getCamRotation (size_t pairIndex) const =0
	Retrieve the rotation from the cameras of a camera-pair back to the origin of the viewpoints (assumed to be the same in both viewpoints). More...

virtual size_t	getNumberCorrespondences (size_t pairIndex) const =0
	Retrieve the number of correspondences for a camera-pair. More...

virtual size_t	getNumberPairs () const =0
	Retrieve the number of camera-pairs. More...

virtual std::vector< int >	convertMultiIndices (const std::vector< std::vector< int > > &multiIndices) const =0
	Convert an array of (pairIndex,correspondenceIndex)-pairs into an array of serialized indices. More...

virtual int	convertMultiIndex (size_t pairIndex, size_t correspondenceIndex) const =0
	Convert a (pairIndex,correspondenceIndex)-pair into a serialized index. More...

virtual int	multiPairIndex (size_t index) const =0
	Get the camera-pair-index corresponding to a serialized index. More...

virtual int	multiCorrespondenceIndex (size_t index) const =0
	Get the keypoint-index in a camera-pair for a serialized index. More...

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...

Additional Inherited Members
Protected Attributes inherited from opengv::relative_pose::RelativeAdapterBase
opengv::translation_t	_t12

opengv::rotation_t	_R12

Detailed Description

See the documentation of RelativeAdapterBase to understand the meaning of a RelativeAdapter. RelativeMultiAdapterBase extends the interface of RelativeAdapterBase by an additional pair-index for referring to pairs of cameras. Intended for special central multi-viewpoint or non-central relative viewpoint problems, allowing "camera-pair"-wise grouping of correspondences. Derived classes need to implement functionalities for deriving unique serialization of multi-indices.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW opengv::relative_pose::RelativeMultiAdapterBase::RelativeMultiAdapterBase ( )

inline

See parent-class

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

inline

See parent-class

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

inline

See parent-class

virtual opengv::relative_pose::RelativeMultiAdapterBase::~RelativeMultiAdapterBase ( )

inlinevirtual

See parent-class

Member Function Documentation

virtual int opengv::relative_pose::RelativeMultiAdapterBase::convertMultiIndex	(	size_t	pairIndex,
		size_t	correspondenceIndex
	)		const

pure virtual

Convert a (pairIndex,correspondenceIndex)-pair into a serialized index.

Parameters

[in]	pairIndex	The index of the camera-pair.
[in]	correspondenceIndex	The index of the keypoint in the camera-pair.

Returns: Array of single serialized indices referring uniquely to (pairIndex,correspondenceIndex)-pairs.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

pure virtual

Convert an array of (pairIndex,correspondenceIndex)-pairs into an array of serialized indices.

Parameters

[in] multiIndices Array of (pairIndex,correspondenceIndex)-pairs.

Returns: Array of single serialized indices referring uniquely to (pairIndex,correspondenceIndex)-pairs.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

pure virtual

Retrieve the bearing vector of a correspondence in camera 1 of a pair.

Parameters

[in]	pairIndex	Index of the camera-pair.
[in]	correspondenceIndex	Index of the correspondence in the camera-pair.

Returns: The corresponding bearing vector.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Retrieve the bearing vector of a correspondence in camera 2 of a pair.

Parameters

[in]	pairIndex	Index of the camera-pair.
[in]	correspondenceIndex	Index of the correspondence in the camera-pair.

Returns: The corresponding bearing vector.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Retrieve the position of the cameras of a camera-pair seen from the origin of the viewpoints (assumed to be the same in both viewpoints).

Parameters

[in] pairIndex Index of the camera-pair.

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

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Retrieve the rotation from the cameras of a camera-pair back to the origin of the viewpoints (assumed to be the same in both viewpoints).

Parameters

[in] pairIndex Index of the camera-pair.

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

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Retrieve the number of correspondences for a camera-pair.

Parameters

[in] pairIndex Index of the camera-pair.

Returns: The number of correspondences in this camera-pair.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Retrieve the number of camera-pairs.

Returns: The number of camera-pairs.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

virtual double opengv::relative_pose::RelativeMultiAdapterBase::getWeight	(	size_t	pairIndex,
		size_t	correspondenceIndex
	)		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]	pairIndex	Index of the camera-pair.
[in]	correspondenceIndex	Index of the correspondence in the camera-pair.

Returns: The corresponding weight.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

inlinevirtual

See parent-class (no need to overload)

Implements opengv::relative_pose::RelativeAdapterBase.

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

pure virtual

Get the keypoint-index in a camera-pair for a serialized index.

Parameters

[in] index The serialized index.

Returns: The keyopint-index in the camera-pair.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

pure virtual

Get the camera-pair-index corresponding to a serialized index.

Parameters

[in] index The serialized index.

Returns: The camera-pair index.

Implemented in opengv::relative_pose::NoncentralRelativeMultiAdapter, opengv::relative_pose::MANoncentralRelativeMulti, and opengv::relative_pose::CentralRelativeMultiAdapter.

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

include/opengv/relative_pose/RelativeMultiAdapterBase.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation