OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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PointCloudAdapterBase.hpp
1/******************************************************************************
2 * Author: Laurent Kneip *
3 * Contact: kneip.laurent@gmail.com *
4 * License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
5 * *
6 * Redistribution and use in source and binary forms, with or without *
7 * modification, are permitted provided that the following conditions *
8 * are met: *
9 * * Redistributions of source code must retain the above copyright *
10 * notice, this list of conditions and the following disclaimer. *
11 * * Redistributions in binary form must reproduce the above copyright *
12 * notice, this list of conditions and the following disclaimer in the *
13 * documentation and/or other materials provided with the distribution. *
14 * * Neither the name of ANU nor the names of its contributors may be *
15 * used to endorse or promote products derived from this software without *
16 * specific prior written permission. *
17 * *
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
19 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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21 * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
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30
36#ifndef OPENGV_POINTCLOUDADAPTERBASE_HPP_
37#define OPENGV_POINTCLOUDADAPTERBASE_HPP_
38
39#include <stdlib.h>
40#include <vector>
41#include <opengv/types.hpp>
42
46namespace opengv
47{
51namespace point_cloud
52{
53
62{
63public:
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
65
70 _t12(Eigen::Vector3d::Zero()),
71 _R12(Eigen::Matrix3d::Identity()) {};
78 _t12(Eigen::Vector3d::Zero()),
79 _R12(R12) {};
87 PointCloudAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
88 _t12(t12),
89 _R12(R12) {};
94
95 //Access of correspondences
96
102 virtual opengv::point_t getPoint1( size_t index ) const = 0;
108 virtual opengv::point_t getPoint2( size_t index ) const = 0;
113 virtual size_t getNumberCorrespondences() const = 0;
121 virtual double getWeight( size_t index ) const = 0;
122
123 //Access of priors or known values
124
129 virtual opengv::translation_t gett12() const { return _t12; };
134 virtual void sett12(const translation_t & t12) { _t12 = t12; };
139 virtual opengv::rotation_t getR12() const { return _R12; };
144 virtual void setR12(const rotation_t & R12) { _R12 = R12; };
145
146public:
155
156};
157
158}
159}
160
161#endif /* OPENGV_POINTCLOUDADAPTERBASE_HPP_ */
Definition PointCloudAdapterBase.hpp:62
virtual opengv::point_t getPoint1(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 1.
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
rotation_t _R12
Definition PointCloudAdapterBase.hpp:154
virtual ~PointCloudAdapterBase()
Destructor.
Definition PointCloudAdapterBase.hpp:93
translation_t _t12
Definition PointCloudAdapterBase.hpp:150
virtual opengv::translation_t gett12() const
Retrieve the prior or known value for the relative position.
Definition PointCloudAdapterBase.hpp:129
virtual void setR12(const rotation_t &R12)
Set the prior or known value for the relative rotation.
Definition PointCloudAdapterBase.hpp:144
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapterBase()
Constructor.
Definition PointCloudAdapterBase.hpp:69
virtual opengv::rotation_t getR12() const
Retrieve the prior or known value for the relative rotation.
Definition PointCloudAdapterBase.hpp:139
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
PointCloudAdapterBase(const translation_t &t12, const rotation_t &R12)
Constructor.
Definition PointCloudAdapterBase.hpp:87
virtual opengv::point_t getPoint2(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 2.
PointCloudAdapterBase(const rotation_t &R12)
Constructor.
Definition PointCloudAdapterBase.hpp:77
virtual void sett12(const translation_t &t12)
Set the prior or known value for the relative position.
Definition PointCloudAdapterBase.hpp:134
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Vector3d point_t
Definition types.hpp:123
Eigen::Matrix3d rotation_t
Definition types.hpp:71
Eigen::Vector3d translation_t
Definition types.hpp:63
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...