38#ifndef OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
39#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
54namespace relative_pose
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: NoncentralRelativeAdapter.hpp:63
const bearingVectors_t & _bearingVectors2
Definition: NoncentralRelativeAdapter.hpp:141
virtual ~NoncentralRelativeAdapter()
Destructor.
virtual double getWeight(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual translation_t getCamOffset2(size_t index) const
const bearingVectors_t & _bearingVectors1
Definition: NoncentralRelativeAdapter.hpp:137
const camCorrespondences_t & _camCorrespondences2
Definition: NoncentralRelativeAdapter.hpp:153
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > camCorrespondences_t
Definition: NoncentralRelativeAdapter.hpp:74
const translations_t & _camOffsets
Definition: NoncentralRelativeAdapter.hpp:158
virtual bearingVector_t getBearingVector1(size_t index) const
virtual rotation_t getCamRotation1(size_t index) const
const rotations_t & _camRotations
Definition: NoncentralRelativeAdapter.hpp:162
virtual size_t getNumberCorrespondences() const
virtual rotation_t getCamRotation2(size_t index) const
virtual translation_t getCamOffset1(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations)
Constructor. See protected class-members to understand parameters.
const camCorrespondences_t & _camCorrespondences1
Definition: NoncentralRelativeAdapter.hpp:147
virtual bearingVector_t getBearingVector2(size_t index) const
NoncentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const camCorrespondences_t &camCorrespondences1, const camCorrespondences_t &camCorrespondences2, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
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
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
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...