OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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MANoncentralRelative.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
38#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
39#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
40
41#include <stdlib.h>
42#include <vector>
43#include <opengv/types.hpp>
45
49namespace opengv
50{
54namespace relative_pose
55{
56
63{
64protected:
67
68public:
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70
75 const double * bearingVectors1,
76 const double * bearingVectors2,
77 int numberBearingVectors1,
78 int numberBearingVectors2 );
79
84
85 //Access of correspondences
86
88 virtual bearingVector_t getBearingVector1( size_t index ) const;
90 virtual bearingVector_t getBearingVector2( size_t index ) const;
92 virtual double getWeight( size_t index ) const;
94 virtual translation_t getCamOffset1( size_t index ) const;
96 virtual rotation_t getCamRotation1( size_t index ) const;
98 virtual translation_t getCamOffset2( size_t index ) const;
100 virtual rotation_t getCamRotation2( size_t index ) const;
102 virtual size_t getNumberCorrespondences() const;
103
104protected:
106 const double * _bearingVectors1;
108 const double * _bearingVectors2;
113};
114
115}
116}
117
118#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_ */
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition MANoncentralRelative.hpp:63
const double * _bearingVectors1
Definition MANoncentralRelative.hpp:106
virtual rotation_t getCamRotation1(size_t index) const
virtual size_t getNumberCorrespondences() const
const double * _bearingVectors2
Definition MANoncentralRelative.hpp:108
virtual translation_t getCamOffset1(size_t index) const
int _numberBearingVectors2
Definition MANoncentralRelative.hpp:112
virtual bearingVector_t getBearingVector2(size_t index) const
virtual translation_t getCamOffset2(size_t index) const
virtual rotation_t getCamRotation2(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MANoncentralRelative(const double *bearingVectors1, const double *bearingVectors2, int numberBearingVectors1, int numberBearingVectors2)
Constructor. See protected class-members to understand parameters.
virtual bearingVector_t getBearingVector1(size_t index) const
int _numberBearingVectors1
Definition MANoncentralRelative.hpp:110
virtual double getWeight(size_t index) const
Definition RelativeAdapterBase.hpp:64
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...