#include <NoncentralAbsoluteAdapter.hpp>
Public Member Functions | |
NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations) | |
Constructor. See protected class-members to understand parameters. | |
NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R) | |
Constructor. See protected class-members to understand parameters. | |
NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t, const rotation_t &R) | |
Constructor. See protected class-members to understand parameters. | |
virtual | ~NoncentralAbsoluteAdapter () |
Destructor. | |
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 |
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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. | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > | camCorrespondences_t |
Protected Attributes | |
const bearingVectors_t & | _bearingVectors |
const camCorrespondences_t & | _camCorrespondences |
const points_t & | _points |
const translations_t & | _camOffsets |
const rotations_t & | _camRotations |
opengv::translation_t | _t |
opengv::rotation_t | _R |
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opengv::translation_t | _t |
opengv::rotation_t | _R |
Check the documentation of the parent-class to understand the meaning of an AbsoluteAdapter. This child-class is for the non-central case and holds data in form of references to opengv-types.
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See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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virtual |
See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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virtual |
See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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virtual |
See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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virtual |
See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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virtual |
See parent-class
Implements opengv::absolute_pose::AbsoluteAdapterBase.
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Reference to the bearing-vectors expressed in the camera-frames
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Reference to an array of camera-indices for the bearing vectors. Length equals to number of bearing-vectors, and elements are indices of cameras in the _camOffsets and _camRotations arrays.
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Reference to positions of the different cameras seen from the viewpoint.
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Reference to rotations from the different cameras back to the viewpoint.
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Reference to the points expressed in the world-frame.
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The prior or known value for the rotation from the viewpoint back to the world frame. Initialized to identity if not provided.
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The prior or known value for the position of the viewpoint seen from the world frame. Initialized to zero if not provided.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<int> opengv::absolute_pose::NoncentralAbsoluteAdapter::camCorrespondences_t |
A type defined for the camera-correspondences, see protected class-members