OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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RelativeAdapterBase.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
37#ifndef OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_
38#define OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_
39
40#include <stdlib.h>
41#include <vector>
42#include <opengv/types.hpp>
43
47namespace opengv
48{
52namespace relative_pose
53{
54
64{
65public:
66 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67
72 _t12(Eigen::Vector3d::Zero()),
73 _R12(Eigen::Matrix3d::Identity()) {};
80 _t12(Eigen::Vector3d::Zero()),
81 _R12(R12) {};
89 RelativeAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
90 _t12(t12),
91 _R12(R12) {};
96
97 //Access of correspondences
98
104 virtual opengv::bearingVector_t getBearingVector1( size_t index ) const = 0;
110 virtual opengv::bearingVector_t getBearingVector2( size_t index ) const = 0;
118 virtual double getWeight( size_t index ) const = 0;
126 virtual opengv::translation_t getCamOffset1( size_t index ) const = 0;
134 virtual opengv::rotation_t getCamRotation1( size_t index ) const = 0;
142 virtual opengv::translation_t getCamOffset2( size_t index ) const = 0;
150 virtual opengv::rotation_t getCamRotation2( size_t index ) const = 0;
155 virtual size_t getNumberCorrespondences() const = 0;
156
157 //Access of priors or known values
158
163 opengv::translation_t gett12() const { return _t12; };
168 void sett12(const opengv::translation_t & t12) { _t12 = t12; };
173 opengv::rotation_t getR12() const { return _R12; };
178 void setR12(const opengv::rotation_t & R12) { _R12 = R12; };
179
180protected:
189
190};
191
192}
193}
194
195#endif /* OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_ */
Definition RelativeAdapterBase.hpp:64
RelativeAdapterBase(const translation_t &t12, const rotation_t &R12)
Constructor.
Definition RelativeAdapterBase.hpp:89
virtual opengv::translation_t getCamOffset1(size_t index) const =0
Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the view...
RelativeAdapterBase(const rotation_t &R12)
Constructor.
Definition RelativeAdapterBase.hpp:79
virtual opengv::translation_t getCamOffset2(size_t index) const =0
Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the view...
virtual opengv::rotation_t getCamRotation2(size_t index) const =0
Retrieve the rotation from a camera of a correspondence in viewpoint 2 to the viewpoint origin.
opengv::rotation_t getR12() const
Retrieve the prior or known value for the relative rotation.
Definition RelativeAdapterBase.hpp:173
virtual ~RelativeAdapterBase()
Destructor.
Definition RelativeAdapterBase.hpp:95
virtual opengv::rotation_t getCamRotation1(size_t index) const =0
Retrieve the rotation from a camera of a correspondence in viewpoint 1 to the viewpoint origin.
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
virtual opengv::bearingVector_t getBearingVector2(size_t index) const =0
Retrieve the bearing vector of a correspondence in viewpoint 2.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RelativeAdapterBase()
Constructor.
Definition RelativeAdapterBase.hpp:71
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
opengv::translation_t gett12() const
Retrieve the prior or known value for the relative position.
Definition RelativeAdapterBase.hpp:163
void setR12(const opengv::rotation_t &R12)
Set the prior or known value for the relative rotation.
Definition RelativeAdapterBase.hpp:178
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
virtual opengv::bearingVector_t getBearingVector1(size_t index) const =0
Retrieve the bearing vector of a correspondence in viewpoint 1.
void sett12(const opengv::translation_t &t12)
Set the prior or known value for the relative position.
Definition RelativeAdapterBase.hpp:168
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...