39 #ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
40 #define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
56 namespace absolute_pose
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
78 std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
79 std::vector<std::shared_ptr<points_t> > points,
91 size_t frameIndex,
size_t correspondenceIndex )
const;
94 size_t frameIndex,
size_t correspondenceIndex )
const;
96 virtual double getWeight(
size_t frameIndex,
size_t correspondenceIndex )
const;
110 const std::vector<std::vector<int> > & multiIndices )
const;
113 size_t frameIndex,
size_t correspondenceIndex )
const;
125 std::vector<std::shared_ptr<points_t> >
_points;
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms....
Definition: AbsoluteMultiAdapterBase.hpp:67
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:164
Definition: NoncentralAbsoluteMultiAdapter.hpp:66
virtual int convertMultiIndex(size_t frameIndex, size_t correspondenceIndex) const
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const
virtual double getWeight(size_t frameIndex, size_t correspondenceIndex) const
std::vector< int > multiKeypointIndices
Definition: NoncentralAbsoluteMultiAdapter.hpp:139
virtual size_t getNumberCorrespondences(size_t frameIndex) const
virtual bearingVector_t getBearingVector(size_t frameIndex, size_t correspondenceIndex) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW NoncentralAbsoluteMultiAdapter(std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors, std::vector< std::shared_ptr< points_t > > points, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
virtual translation_t getMultiCamOffset(size_t frameIndex) const
virtual ~NoncentralAbsoluteMultiAdapter()
Destructor.
std::vector< int > singleIndexOffsets
Definition: NoncentralAbsoluteMultiAdapter.hpp:141
const rotations_t & _camRotations
Definition: NoncentralAbsoluteMultiAdapter.hpp:134
virtual rotation_t getMultiCamRotation(size_t frameIndex) const
virtual int multiCorrespondenceIndex(size_t index) const
const translations_t & _camOffsets
Definition: NoncentralAbsoluteMultiAdapter.hpp:130
virtual int multiFrameIndex(size_t index) const
std::vector< int > multiFrameIndices
Definition: NoncentralAbsoluteMultiAdapter.hpp:137
std::vector< std::shared_ptr< points_t > > _points
Definition: NoncentralAbsoluteMultiAdapter.hpp:125
virtual size_t getNumberFrames() const
std::vector< std::shared_ptr< bearingVectors_t > > _bearingVectors
Definition: NoncentralAbsoluteMultiAdapter.hpp:122
virtual point_t getPoint(size_t frameIndex, size_t correspondenceIndex) const
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
std::vector< translation_t, Eigen::aligned_allocator< translation_t > > translations_t
Definition: types.hpp:67
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
std::vector< rotation_t, Eigen::aligned_allocator< rotation_t > > rotations_t
Definition: types.hpp:75
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...