OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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opengv::absolute_pose::CentralAbsoluteAdapter Class Reference

#include <CentralAbsoluteAdapter.hpp>

Inheritance diagram for opengv::absolute_pose::CentralAbsoluteAdapter:
opengv::absolute_pose::AbsoluteAdapterBase

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const points_t &points)
 Constructor. See protected class-members to understand parameters.
 
 CentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const points_t &points, const rotation_t &R)
 Constructor. See protected class-members to understand parameters.
 
 CentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const points_t &points, const translation_t &t, const rotation_t &R)
 Constructor. See protected class-members to understand parameters.
 
virtual ~CentralAbsoluteAdapter ()
 
virtual opengv::bearingVector_t getBearingVector (size_t index) const
 
virtual double getWeight (size_t index) const
 
virtual opengv::translation_t getCamOffset (size_t index) const
 
virtual opengv::rotation_t getCamRotation (size_t index) const
 
virtual opengv::point_t getPoint (size_t index) const
 
virtual size_t getNumberCorrespondences () const
 
- Public Member Functions inherited from opengv::absolute_pose::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase ()
 Constructor.
 
 AbsoluteAdapterBase (const opengv::rotation_t &R)
 Constructor.
 
 AbsoluteAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
 Constructor.
 
virtual ~AbsoluteAdapterBase ()
 Destructor.
 
opengv::translation_t gett () const
 Retrieve the prior or known value for the position.
 
void sett (const opengv::translation_t &t)
 Set the prior or known value for the position.
 
opengv::rotation_t getR () const
 Retrieve the prior or known value for the rotation.
 
void setR (const opengv::rotation_t &R)
 Set the prior or known value for the rotation.
 

Protected Attributes

const bearingVectors_t_bearingVectors
 
const points_t_points
 
opengv::translation_t _t
 
opengv::rotation_t _R
 
- Protected Attributes inherited from opengv::absolute_pose::AbsoluteAdapterBase
opengv::translation_t _t
 
opengv::rotation_t _R
 

Detailed Description

Check the documentation of the parent-class to understand the meaning of an AbsoluteAdapter. This child-class is for the central case and holds data in form of references to opengv-types.

Constructor & Destructor Documentation

◆ ~CentralAbsoluteAdapter()

virtual opengv::absolute_pose::CentralAbsoluteAdapter::~CentralAbsoluteAdapter ( )
virtual

Destructor

Member Function Documentation

◆ getBearingVector()

virtual opengv::bearingVector_t opengv::absolute_pose::CentralAbsoluteAdapter::getBearingVector ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamOffset()

virtual opengv::translation_t opengv::absolute_pose::CentralAbsoluteAdapter::getCamOffset ( size_t  index) const
virtual

See parent-class. Returns zero for this adapter.

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamRotation()

virtual opengv::rotation_t opengv::absolute_pose::CentralAbsoluteAdapter::getCamRotation ( size_t  index) const
virtual

See parent-class Returns identity for this adapter.

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getNumberCorrespondences()

virtual size_t opengv::absolute_pose::CentralAbsoluteAdapter::getNumberCorrespondences ( ) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getPoint()

virtual opengv::point_t opengv::absolute_pose::CentralAbsoluteAdapter::getPoint ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getWeight()

virtual double opengv::absolute_pose::CentralAbsoluteAdapter::getWeight ( size_t  index) const
virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

Member Data Documentation

◆ _bearingVectors

const bearingVectors_t& opengv::absolute_pose::CentralAbsoluteAdapter::_bearingVectors
protected

Reference to the bearing-vectors expressed in the camera-frame

◆ _points

const points_t& opengv::absolute_pose::CentralAbsoluteAdapter::_points
protected

Reference to the points expressed in the world-frame.

◆ _R

opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::_R
protected

The prior or known value for the rotation from the viewpoint back to the world frame. Initialized to identity if not provided.

◆ _t

opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::_t
protected

The prior or known value for the position of the viewpoint seen from the world frame. Initialized to zero if not provided.


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