OpenGV
A library for solving calibrated central and non-central geometric vision problems
 
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AbsoluteMultiAdapterBase.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
39#ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
40#define OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
41
42#include <stdlib.h>
43#include <vector>
44#include <opengv/types.hpp>
46
50namespace opengv
51{
55namespace absolute_pose
56{
57
67{
68protected:
71public:
72 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73
101
102 //camera-wise access of correspondences
103
111 size_t frameIndex, size_t correspondenceIndex ) const = 0;
120 virtual double getWeight(
121 size_t frameIndex, size_t correspondenceIndex ) const = 0;
128 virtual opengv::translation_t getMultiCamOffset( size_t frameIndex ) const = 0;
135 virtual opengv::rotation_t getMultiCamRotation( size_t frameIndex ) const = 0;
143 size_t frameIndex, size_t correspondenceIndex ) const = 0;
149 virtual size_t getNumberCorrespondences( size_t frameIndex ) const = 0;
154 virtual size_t getNumberFrames() const = 0;
155
156 //Conversion to and from serialized indices
157
165 virtual std::vector<int> convertMultiIndices(
166 const std::vector<std::vector<int> > & multiIndices ) const = 0;
175 virtual int convertMultiIndex(
176 size_t frameIndex, size_t correspondenceIndex ) const = 0;
182 virtual int multiFrameIndex( size_t index ) const = 0;
188 virtual int multiCorrespondenceIndex( size_t index ) const = 0;
189
190 //the classic interface (with serialized indices, used by the opengv-methods)
191
193 virtual bearingVector_t getBearingVector( size_t index ) const
194 {
195 return getBearingVector(
197 }
199 virtual double getWeight( size_t index ) const
200 {
201 return getWeight(
203 }
205 virtual translation_t getCamOffset( size_t index ) const
206 { return getMultiCamOffset( multiFrameIndex(index) ); }
208 virtual rotation_t getCamRotation( size_t index ) const
209 { return getMultiCamRotation( multiFrameIndex(index) ); }
211 virtual point_t getPoint( size_t index ) const
212 {
213 return getPoint(
215 }
217 virtual size_t getNumberCorrespondences() const
218 {
219 size_t numberCorrespondences = 0;
220 for(size_t i = 0; i < getNumberFrames(); i++)
221 numberCorrespondences += getNumberCorrespondences(i);
222 return numberCorrespondences;
223 }
224};
225
226}
227};
228
229#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_ */
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Definition AbsoluteAdapterBase.hpp:64
opengv::rotation_t _R
Definition AbsoluteAdapterBase.hpp:174
opengv::translation_t _t
Definition AbsoluteAdapterBase.hpp:170
Definition AbsoluteMultiAdapterBase.hpp:67
virtual opengv::point_t getPoint(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the world point of a correspondence.
virtual size_t getNumberCorrespondences() const
Definition AbsoluteMultiAdapterBase.hpp:217
virtual point_t getPoint(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:211
virtual int multiCorrespondenceIndex(size_t index) const =0
Get the correspondence-index in a camera for a serialized index.
virtual double getWeight(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
virtual opengv::rotation_t getMultiCamRotation(size_t frameIndex) const =0
Retrieve the rotation from a camera to the viewpoint frame.
virtual std::vector< int > convertMultiIndices(const std::vector< std::vector< int > > &multiIndices) const =0
Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices.
virtual opengv::translation_t getMultiCamOffset(size_t frameIndex) const =0
Retrieve the position of a camera seen from the viewpoint origin.
virtual size_t getNumberCorrespondences(size_t frameIndex) const =0
Retrieve the number of correspondences for a camera.
virtual int multiFrameIndex(size_t index) const =0
Get the frame-index corresponding to a serialized index.
virtual ~AbsoluteMultiAdapterBase()
Destructor.
Definition AbsoluteMultiAdapterBase.hpp:100
virtual size_t getNumberFrames() const =0
Retrieve the number of cameras.
AbsoluteMultiAdapterBase(const opengv::rotation_t &R)
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:84
virtual translation_t getCamOffset(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:205
EIGEN_MAKE_ALIGNED_OPERATOR_NEW AbsoluteMultiAdapterBase()
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:77
virtual rotation_t getCamRotation(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:208
virtual opengv::bearingVector_t getBearingVector(size_t frameIndex, size_t correspondenceIndex) const =0
Retrieve the bearing vector of a correspondence in a certain frame.
virtual int convertMultiIndex(size_t frameIndex, size_t correspondenceIndex) const =0
Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.
AbsoluteMultiAdapterBase(const opengv::translation_t &t, const opengv::rotation_t &R)
Constructor.
Definition AbsoluteMultiAdapterBase.hpp:93
virtual double getWeight(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:199
virtual bearingVector_t getBearingVector(size_t index) const
Definition AbsoluteMultiAdapterBase.hpp:193
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...