39#ifndef OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_
40#define OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_
55namespace relative_pose
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
97 size_t pairIndex,
size_t correspondenceIndex )
const = 0;
105 size_t pairIndex,
size_t correspondenceIndex )
const = 0;
115 size_t pairIndex,
size_t correspondenceIndex )
const = 0;
154 const std::vector<std::vector<int> > & multiIndices )
const = 0;
163 size_t pairIndex,
size_t correspondenceIndex )
const = 0;
212 size_t numberCorrespondences = 0;
215 return numberCorrespondences;
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition RelativeAdapterBase.hpp:64
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
Definition RelativeMultiAdapterBase.hpp:68
virtual rotation_t getCamRotation2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:207
virtual translation_t getCamOffset1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:198
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in camera 2 of a pair.
RelativeMultiAdapterBase(const translation_t &t12, const rotation_t &R12)
Definition RelativeMultiAdapterBase.hpp:83
virtual int convertMultiIndex(size_t pairIndex, size_t correspondenceIndex) const =0
Convert a (pairIndex,correspondenceIndex)-pair into a serialized index.
RelativeMultiAdapterBase(const rotation_t &R12)
Definition RelativeMultiAdapterBase.hpp:80
virtual translation_t getCamOffset2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:204
virtual ~RelativeMultiAdapterBase()
Definition RelativeMultiAdapterBase.hpp:86
virtual double getWeight(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
virtual size_t getNumberCorrespondences(size_t pairIndex) const =0
Retrieve the number of correspondences for a camera-pair.
virtual rotation_t getCamRotation1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:201
virtual size_t getNumberCorrespondences() const
Definition RelativeMultiAdapterBase.hpp:210
virtual int multiCorrespondenceIndex(size_t index) const =0
Get the keypoint-index in a camera-pair for a serialized index.
virtual rotation_t getCamRotation(size_t pairIndex) const =0
Retrieve the rotation from the cameras of a camera-pair back to the origin of the viewpoints (assumed...
virtual size_t getNumberPairs() const =0
Retrieve the number of camera-pairs.
virtual bearingVector_t getBearingVector2(size_t index) const
Definition RelativeMultiAdapterBase.hpp:186
virtual double getWeight(size_t index) const
Definition RelativeMultiAdapterBase.hpp:192
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in camera 1 of a pair.
virtual bearingVector_t getBearingVector1(size_t index) const
Definition RelativeMultiAdapterBase.hpp:180
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeMultiAdapterBase()
Definition RelativeMultiAdapterBase.hpp:77
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const =0
Convert an array of (pairIndex,correspondenceIndex)-pairs into an array of serialized indices.
virtual translation_t getCamOffset(size_t pairIndex) const =0
Retrieve the position of the cameras of a camera-pair seen from the origin of the viewpoints (assumed...
virtual int multiPairIndex(size_t index) const =0
Get the camera-pair-index corresponding to a serialized index.
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Matrix3d rotation_t
Definition types.hpp:71
Eigen::Vector3d translation_t
Definition types.hpp:63
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...