OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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PointCloudAdapter.hpp
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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 *
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18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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30
37#ifndef OPENGV_POINTCLOUDADAPTER_HPP_
38#define OPENGV_POINTCLOUDADAPTER_HPP_
39
40#include <stdlib.h>
41#include <vector>
42#include <opengv/types.hpp>
43#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
44
48namespace opengv
49{
53namespace point_cloud
54{
55
62{
63private:
66
67public:
68 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69
74 const points_t & points1,
75 const points_t & points2 );
80 const points_t & points1,
81 const points_t & points2,
82 const rotation_t & R12 );
87 const points_t & points1,
88 const points_t & points2,
89 const translation_t & t12,
90 const rotation_t & R12 );
95
96 //Access of correspondences
97
99 virtual opengv::point_t getPoint1( size_t index ) const;
101 virtual opengv::point_t getPoint2( size_t index ) const;
103 virtual double getWeight( size_t index ) const;
105 virtual size_t getNumberCorrespondences() const;
106
107private:
109 const points_t & _points1;
111 const points_t & _points2;
112};
113
114}
115}
116
117#endif /* OPENGV_POINTCLOUDADAPTER_HPP_ */
Definition PointCloudAdapterBase.hpp:62
rotation_t _R12
Definition PointCloudAdapterBase.hpp:154
translation_t _t12
Definition PointCloudAdapterBase.hpp:150
Definition PointCloudAdapter.hpp:62
virtual size_t getNumberCorrespondences() const
virtual double getWeight(size_t index) const
PointCloudAdapter(const points_t &points1, const points_t &points2, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual opengv::point_t getPoint1(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapter(const points_t &points1, const points_t &points2)
Constructor. See protected class-members to understand parameters.
PointCloudAdapter(const points_t &points1, const points_t &points2, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual opengv::point_t getPoint2(size_t index) const
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
std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
Definition types.hpp:127
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...