OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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AbsoluteAdapterBase.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_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
38#define OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_
39
40#include <stdlib.h>
41#include <vector>
42#include <opengv/types.hpp>
43
47namespace opengv
48{
52namespace absolute_pose
53{
54
64{
65public:
66 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67
72 _t(Eigen::Vector3d::Zero()),
73 _R(Eigen::Matrix3d::Identity()) {};
80 _t(Eigen::Vector3d::Zero()),
81 _R(R) {};
90 const opengv::translation_t & t,
91 const opengv::rotation_t & R ) :
92 _t(t),
93 _R(R) {};
98
99 //Access of correspondences
100
106 virtual opengv::bearingVector_t getBearingVector(size_t index ) const = 0;
114 virtual double getWeight( size_t index ) const = 0;
122 virtual opengv::translation_t getCamOffset( size_t index ) const = 0;
130 virtual opengv::rotation_t getCamRotation( size_t index ) const = 0;
136 virtual opengv::point_t getPoint( size_t index ) const = 0;
141 virtual size_t getNumberCorrespondences() const = 0;
142
143 //Access of priors or known values
144
149 opengv::translation_t gett() const { return _t; };
154 void sett(const opengv::translation_t & t) { _t = t; };
159 opengv::rotation_t getR() const { return _R; };
164 void setR(const opengv::rotation_t & R) { _R = R; };
165
166protected:
175
176};
177
178}
179};
180
181#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEADAPTERBASE_HPP_ */
Definition AbsoluteAdapterBase.hpp:64
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 getBearingVector(size_t index) const =0
Retrieve the bearing vector of a correspondence.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteAdapterBase()
Constructor.
Definition AbsoluteAdapterBase.hpp:71
virtual opengv::translation_t getCamOffset(size_t index) const =0
Retrieve the position of a camera of a correspondence seen from the viewpoint origin.
opengv::translation_t gett() const
Retrieve the prior or known value for the position.
Definition AbsoluteAdapterBase.hpp:149
opengv::rotation_t getR() const
Retrieve the prior or known value for the rotation.
Definition AbsoluteAdapterBase.hpp:159
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
virtual opengv::point_t getPoint(size_t index) const =0
Retrieve the world point of a correspondence.
virtual opengv::rotation_t getCamRotation(size_t index) const =0
Retrieve the rotation from a camera of a correspondence to the viewpoint origin.
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
void setR(const opengv::rotation_t &R)
Set the prior or known value for the rotation.
Definition AbsoluteAdapterBase.hpp:164
AbsoluteAdapterBase(const opengv::rotation_t &R)
Constructor.
Definition AbsoluteAdapterBase.hpp:79
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
virtual ~AbsoluteAdapterBase()
Destructor.
Definition AbsoluteAdapterBase.hpp:97
AbsoluteAdapterBase(const opengv::translation_t &t, const opengv::rotation_t &R)
Constructor.
Definition AbsoluteAdapterBase.hpp:89
void sett(const opengv::translation_t &t)
Set the prior or known value for the position.
Definition AbsoluteAdapterBase.hpp:154
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Vector3d point_t
Definition types.hpp:123
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...