OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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CentralRelativeMultiAdapter.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_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_
40#define OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_
41
42#include <stdlib.h>
43#include <vector>
44#include <memory>
45#include <opengv/types.hpp>
47
51namespace opengv
52{
56namespace relative_pose
57{
58
66{
67protected:
70
71public:
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73
78 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors1,
79 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors2 );
84
85 //camera-pair-wise access of correspondences
86
89 size_t pairIndex, size_t correspondenceIndex ) const;
92 size_t pairIndex, size_t correspondenceIndex ) const;
94 virtual double getWeight( size_t pairIndex, size_t correspondenceIndex ) const;
96 virtual translation_t getCamOffset( size_t pairIndex ) const;
98 virtual rotation_t getCamRotation( size_t pairIndex ) const;
100 virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
102 virtual size_t getNumberPairs() const;
103
104 //Conversion to and from serialized indices
105
107 virtual std::vector<int> convertMultiIndices(
108 const std::vector<std::vector<int> > & multiIndices ) const;
110 virtual int convertMultiIndex(
111 size_t pairIndex, size_t correspondenceIndex ) const;
113 virtual int multiPairIndex( size_t index ) const;
115 virtual int multiCorrespondenceIndex( size_t index ) const;
116
117protected:
121 std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors1;
125 std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors2;
126
128 std::vector<int> multiPairIndices;
130 std::vector<int> multiKeypointIndices;
132 std::vector<int> singleIndexOffsets;
133};
134
135}
136}
137
138#endif /* OPENGV_RELATIVE_POSE_CENTRALRELATIVEMULTIADAPTER_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition CentralRelativeMultiAdapter.hpp:66
virtual translation_t getCamOffset(size_t pairIndex) const
virtual rotation_t getCamRotation(size_t pairIndex) const
std::vector< int > multiKeypointIndices
Definition CentralRelativeMultiAdapter.hpp:130
virtual int convertMultiIndex(size_t pairIndex, size_t correspondenceIndex) const
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors2
Definition CentralRelativeMultiAdapter.hpp:125
virtual int multiPairIndex(size_t index) const
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors1, std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors2)
Constructor. See protected class-members to understand parameters.
std::vector< int > singleIndexOffsets
Definition CentralRelativeMultiAdapter.hpp:132
virtual double getWeight(size_t pairIndex, size_t correspondenceIndex) const
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors1
Definition CentralRelativeMultiAdapter.hpp:121
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const
std::vector< int > multiPairIndices
Definition CentralRelativeMultiAdapter.hpp:128
virtual size_t getNumberCorrespondences(size_t pairIndex) const
virtual int multiCorrespondenceIndex(size_t index) const
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
Definition RelativeMultiAdapterBase.hpp:68
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...