OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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RelativeMultiAdapterBase.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_RELATIVEMULTIADAPTERBASE_HPP_
40#define OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_
41
42#include <stdlib.h>
43#include <vector>
44#include <opengv/types.hpp>
46
50namespace opengv
51{
55namespace relative_pose
56{
57
68{
69protected:
72
73public:
74 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
75
84 RelativeAdapterBase( t12, R12 ) {};
87
88 //camera-pair-wise access of correspondences
89
97 size_t pairIndex, size_t correspondenceIndex ) const = 0;
105 size_t pairIndex, size_t correspondenceIndex ) const = 0;
114 virtual double getWeight(
115 size_t pairIndex, size_t correspondenceIndex ) const = 0;
123 virtual translation_t getCamOffset( size_t pairIndex ) const = 0;
131 virtual rotation_t getCamRotation( size_t pairIndex ) const = 0;
137 virtual size_t getNumberCorrespondences( size_t pairIndex ) const = 0;
142 virtual size_t getNumberPairs() const = 0;
143
144 //Conversion to and from serialized indices
145
153 virtual std::vector<int> convertMultiIndices(
154 const std::vector<std::vector<int> > & multiIndices ) const = 0;
162 virtual int convertMultiIndex(
163 size_t pairIndex, size_t correspondenceIndex ) const = 0;
169 virtual int multiPairIndex( size_t index ) const = 0;
175 virtual int multiCorrespondenceIndex( size_t index ) const = 0;
176
177 //the classic interface (with serialized indices, used by the opengv-methods)
178
180 virtual bearingVector_t getBearingVector1( size_t index ) const
181 {
182 return getBearingVector1(
184 }
186 virtual bearingVector_t getBearingVector2( size_t index ) const
187 {
188 return getBearingVector2(
190 }
192 virtual double getWeight( size_t index ) const
193 {
194 return getWeight(
196 }
198 virtual translation_t getCamOffset1( size_t index ) const
199 { return getCamOffset( multiPairIndex(index) ); }
201 virtual rotation_t getCamRotation1( size_t index ) const
202 { return getCamRotation( multiPairIndex(index) ); }
204 virtual translation_t getCamOffset2( size_t index ) const
205 { return getCamOffset( multiPairIndex(index) ); }
207 virtual rotation_t getCamRotation2( size_t index ) const
208 { return getCamRotation( multiPairIndex(index) ); }
210 virtual size_t getNumberCorrespondences() const
211 {
212 size_t numberCorrespondences = 0;
213 for(size_t i = 0; i < getNumberPairs(); i++)
214 numberCorrespondences += getNumberCorrespondences(i);
215 return numberCorrespondences;
216 }
217};
218
219}
220}
221
222#endif /* OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_ */
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...