OpenGV
A library for solving calibrated central and non-central geometric vision problems
MAPointCloud.hpp
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2 * Author: Laurent Kneip *
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30
37#ifndef OPENGV_MAPOINTCLOUD_HPP_
38#define OPENGV_MAPOINTCLOUD_HPP_
39
40#include <stdlib.h>
41#include <vector>
42#include <opengv/types.hpp>
43#include <opengv/point_cloud/PointCloudAdapterBase.hpp>
44
48namespace opengv
49{
53namespace point_cloud
54{
55
62{
63private:
66
67public:
68 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
69
74 const double * points1,
75 const double * points2,
76 int numberPoints1,
77 int numberPoints2 );
78
82 virtual ~MAPointCloud();
83
84 //Access of correspondences
85
87 virtual opengv::point_t getPoint1( size_t index ) const;
89 virtual opengv::point_t getPoint2( size_t index ) const;
91 virtual double getWeight( size_t index ) const;
93 virtual size_t getNumberCorrespondences() const;
94
95private:
97 const double * _points1;
99 const double * _points2;
101 int _numberPoints1;
103 int _numberPoints2;
104};
105
106}
107}
108
109#endif /* OPENGV_MAPOINTCLOUD_HPP_ */
Definition: MAPointCloud.hpp:62
virtual opengv::point_t getPoint2(size_t index) const
virtual opengv::point_t getPoint1(size_t index) const
virtual double getWeight(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MAPointCloud(const double *points1, const double *points2, int numberPoints1, int numberPoints2)
Constructor. See protected class-members to understand parameters.
virtual size_t getNumberCorrespondences() const
Definition: PointCloudAdapterBase.hpp:62
rotation_t _R12
Definition: PointCloudAdapterBase.hpp:154
translation_t _t12
Definition: PointCloudAdapterBase.hpp:150
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
Eigen::Vector3d point_t
Definition: types.hpp:123
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...