OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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NoncentralAbsoluteMultiAdapter.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. *
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30
39#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
40#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
41
42#include <memory>
43#include <stdlib.h>
44#include <vector>
45#include <opengv/types.hpp>
47
51namespace opengv
52{
56namespace absolute_pose
57{
58
66{
67protected:
70
71public:
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73
78 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
79 std::vector<std::shared_ptr<points_t> > points,
80 const translations_t & camOffsets,
81 const rotations_t & camRotations );
86
87 //camera-wise access of correspondences
88
91 size_t frameIndex, size_t correspondenceIndex ) const;
94 size_t frameIndex, size_t correspondenceIndex ) const;
96 virtual double getWeight( size_t frameIndex, size_t correspondenceIndex ) const;
98 virtual translation_t getMultiCamOffset( size_t frameIndex ) const;
100 virtual rotation_t getMultiCamRotation( size_t frameIndex ) const;
102 virtual size_t getNumberCorrespondences( size_t frameIndex ) const;
104 virtual size_t getNumberFrames() const;
105
106 //Conversion to and from serialized indices
107
109 virtual std::vector<int> convertMultiIndices(
110 const std::vector<std::vector<int> > & multiIndices ) const;
112 virtual int convertMultiIndex(
113 size_t frameIndex, size_t correspondenceIndex ) const;
115 virtual int multiFrameIndex( size_t index ) const;
117 virtual int multiCorrespondenceIndex( size_t index ) const;
118
119protected:
122 std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors;
125 std::vector<std::shared_ptr<points_t> > _points;
126
135
137 std::vector<int> multiFrameIndices;
139 std::vector<int> multiKeypointIndices;
141 std::vector<int> singleIndexOffsets;
142};
143
144}
145};
146
147#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms....
Definition AbsoluteMultiAdapterBase.hpp:67
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
Definition NoncentralAbsoluteMultiAdapter.hpp:66
virtual int convertMultiIndex(size_t frameIndex, size_t correspondenceIndex) const
virtual double getWeight(size_t frameIndex, size_t correspondenceIndex) const
std::vector< int > multiKeypointIndices
Definition NoncentralAbsoluteMultiAdapter.hpp:139
virtual size_t getNumberCorrespondences(size_t frameIndex) const
virtual bearingVector_t getBearingVector(size_t frameIndex, size_t correspondenceIndex) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW NoncentralAbsoluteMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors, std::vector< std::shared_ptr< points_t > > points, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
virtual translation_t getMultiCamOffset(size_t frameIndex) const
std::vector< int > singleIndexOffsets
Definition NoncentralAbsoluteMultiAdapter.hpp:141
const rotations_t & _camRotations
Definition NoncentralAbsoluteMultiAdapter.hpp:134
virtual rotation_t getMultiCamRotation(size_t frameIndex) const
virtual int multiCorrespondenceIndex(size_t index) const
const translations_t & _camOffsets
Definition NoncentralAbsoluteMultiAdapter.hpp:130
virtual int multiFrameIndex(size_t index) const
std::vector< int > multiFrameIndices
Definition NoncentralAbsoluteMultiAdapter.hpp:137
std::vector< std::shared_ptr< points_t > > _points
Definition NoncentralAbsoluteMultiAdapter.hpp:125
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors
Definition NoncentralAbsoluteMultiAdapter.hpp:122
virtual point_t getPoint(size_t frameIndex, size_t correspondenceIndex) const
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) 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
std::vector< translation_t, Eigen::aligned_allocator< translation_t > > translations_t
Definition types.hpp:67
Eigen::Vector3d translation_t
Definition types.hpp:63
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition types.hpp:75
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...