39#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
40#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_
55namespace relative_pose
73 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
79 const std::vector<double*> & bearingVectors1,
80 const std::vector<double*> & bearingVectors2,
81 const double * camOffsets,
82 const std::vector<int> & numberBearingVectors );
92 size_t pairIndex,
size_t correspondenceIndex )
const;
95 size_t pairIndex,
size_t correspondenceIndex )
const;
97 virtual double getWeight(
size_t camIndex,
size_t correspondenceIndex )
const;
111 const std::vector<std::vector<int> > & multiIndices )
const;
114 size_t camIndex,
size_t correspondenceIndex )
const;
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms....
Definition MANoncentralRelativeMulti.hpp:67
virtual bearingVector_t getBearingVector2(size_t pairIndex, size_t correspondenceIndex) const
virtual rotation_t getCamRotation(size_t pairIndex) const
virtual ~MANoncentralRelativeMulti()
Destructor.
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
std::vector< int > multiPairIndices
Definition MANoncentralRelativeMulti.hpp:134
virtual int multiCorrespondenceIndex(size_t index) const
std::vector< double * > _bearingVectors1
Definition MANoncentralRelativeMulti.hpp:122
std::vector< int > multiKeypointIndices
Definition MANoncentralRelativeMulti.hpp:136
const double * _camOffsets
Definition MANoncentralRelativeMulti.hpp:128
virtual double getWeight(size_t camIndex, size_t correspondenceIndex) const
std::vector< int > singleIndexOffsets
Definition MANoncentralRelativeMulti.hpp:138
virtual int multiPairIndex(size_t index) const
virtual size_t getNumberPairs() const
virtual int convertMultiIndex(size_t camIndex, size_t correspondenceIndex) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MANoncentralRelativeMulti(const std::vector< double * > &bearingVectors1, const std::vector< double * > &bearingVectors2, const double *camOffsets, const std::vector< int > &numberBearingVectors)
Constructor. See protected class-members to understand parameters.
virtual bearingVector_t getBearingVector1(size_t pairIndex, size_t correspondenceIndex) const
virtual translation_t getCamOffset(size_t pairIndex) const
std::vector< int > _numberBearingVectors
Definition MANoncentralRelativeMulti.hpp:131
std::vector< double * > _bearingVectors2
Definition MANoncentralRelativeMulti.hpp:125
virtual size_t getNumberCorrespondences(size_t pairIndex) const
Definition RelativeMultiAdapterBase.hpp:68
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
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...