#include <AbsoluteMultiAdapterBase.hpp>

Inheritance diagram for opengv::absolute_pose::AbsoluteMultiAdapterBase:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AbsoluteMultiAdapterBase ()
	Constructor.
	AbsoluteMultiAdapterBase (const opengv::rotation_t &R)
	Constructor.
	AbsoluteMultiAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
	Constructor.
virtual	~AbsoluteMultiAdapterBase ()
	Destructor.
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 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 correspondence, and typically is between 0 and 1.
virtual opengv::translation_t	getMultiCamOffset (size_t frameIndex) const =0
	Retrieve the position of a camera seen from the viewpoint origin.
virtual opengv::rotation_t	getMultiCamRotation (size_t frameIndex) const =0
	Retrieve the rotation from a camera to the viewpoint frame.
virtual opengv::point_t	getPoint (size_t frameIndex, size_t correspondenceIndex) const =0
	Retrieve the world point of a correspondence.
virtual size_t	getNumberCorrespondences (size_t frameIndex) const =0
	Retrieve the number of correspondences for a camera.
virtual size_t	getNumberFrames () const =0
	Retrieve the number of cameras.
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 int	convertMultiIndex (size_t frameIndex, size_t correspondenceIndex) const =0
	Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.
virtual int	multiFrameIndex (size_t index) const =0
	Get the frame-index corresponding to a serialized index.
virtual int	multiCorrespondenceIndex (size_t index) const =0
	Get the correspondence-index in a camera for a serialized index.
virtual bearingVector_t	getBearingVector (size_t index) const
virtual double	getWeight (size_t index) const
virtual translation_t	getCamOffset (size_t index) const
virtual rotation_t	getCamRotation (size_t index) const
virtual point_t	getPoint (size_t index) const
virtual size_t	getNumberCorrespondences () const
Public Member Functions inherited from opengv::absolute_pose::AbsoluteAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AbsoluteAdapterBase ()
	Constructor.
	AbsoluteAdapterBase (const opengv::rotation_t &R)
	Constructor.
	AbsoluteAdapterBase (const opengv::translation_t &t, const opengv::rotation_t &R)
	Constructor.
virtual	~AbsoluteAdapterBase ()
	Destructor.
opengv::translation_t	gett () const
	Retrieve the prior or known value for the position.
void	sett (const opengv::translation_t &t)
	Set the prior or known value for the position.
opengv::rotation_t	getR () const
	Retrieve the prior or known value for the rotation.
void	setR (const opengv::rotation_t &R)
	Set the prior or known value for the rotation.

Protected Attributes
opengv::translation_t	_t
opengv::rotation_t	_R
Protected Attributes inherited from opengv::absolute_pose::AbsoluteAdapterBase
opengv::translation_t	_t
opengv::rotation_t	_R

Detailed Description

See the documentation of AbsoluteAdapterBase to understand the meaning of an AbsoluteAdapter. AbsoluteMultiAdapterBase extends the interface of AbsoluteAdapterBase by an additional frame-index for referring to a camera. Intended for non-central absolute viewpoint problems, allowing camera-wise access of correspondences. Derived classes need to implement functionalities for deriving unique serialization of multi-indices.

Constructor & Destructor Documentation

◆ AbsoluteMultiAdapterBase() [1/2]

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase ( const opengv::rotation_t & R )

inline

Constructor.

Parameters

[in] R A prior or known value for the rotation from the viewpoint to the world frame.

◆ AbsoluteMultiAdapterBase() [2/2]

opengv::absolute_pose::AbsoluteMultiAdapterBase::AbsoluteMultiAdapterBase	(	const opengv::translation_t &	t,
		const opengv::rotation_t &	R )

inline

Constructor.

Parameters

[in]	t	A prior or known value for the position of the viewpoint seen from the world frame.
[in]	R	A prior or known value for the rotation from the viewpoint to the world frame.

Member Function Documentation

◆ convertMultiIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndex	(	size_t	frameIndex,
		size_t	correspondenceIndex ) const

pure virtual

Convert a (frameIndex,correspondenceIndex)-pair into a serialized index.

Parameters

[in]	frameIndex	The index of the camera.
[in]	correspondenceIndex	The index of the correspondence in the camera.

Returns: Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ convertMultiIndices()

virtual std::vector< int > opengv::absolute_pose::AbsoluteMultiAdapterBase::convertMultiIndices ( const std::vector< std::vector< int > > & multiIndices ) const

pure virtual

Convert an array of (frameIndex,correspondenceIndex)-pairs into an array of serialized indices.

Parameters

[in] multiIndices Array of (frameIndex,correspondenceIndex)-pairs.

Returns: Array of single serialized indices referring uniquely to (frameIndex,correspondenceIndex)-pairs.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getBearingVector() [1/2]

virtual opengv::bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector	(	size_t	frameIndex,
		size_t	correspondenceIndex ) const

pure virtual

Retrieve the bearing vector of a correspondence in a certain frame.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding bearing vector.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getBearingVector() [2/2]

virtual bearingVector_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getBearingVector ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamOffset()

virtual translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamOffset ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getCamRotation()

virtual rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getCamRotation ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getMultiCamOffset()

virtual opengv::translation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamOffset ( size_t frameIndex ) const

pure virtual

Retrieve the position of a camera seen from the viewpoint origin.

Parameters

[in] frameIndex Index of the frame.

Returns: The position of the corresponding camera seen from the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getMultiCamRotation()

virtual opengv::rotation_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getMultiCamRotation ( size_t frameIndex ) const

pure virtual

Retrieve the rotation from a camera to the viewpoint frame.

Parameters

[in] frameIndex Index of the frame.

Returns: The rotation from the corresponding camera back to the viewpoint origin.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getNumberCorrespondences() [1/2]

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getNumberCorrespondences() [2/2]

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberCorrespondences ( size_t frameIndex ) const

pure virtual

Retrieve the number of correspondences for a camera.

Parameters

[in] frameIndex Index of the camera.

Returns: The number of correspondences in this camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getNumberFrames()

virtual size_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getNumberFrames ( ) const

pure virtual

Retrieve the number of cameras.

Returns: The number of cameras.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getPoint() [1/2]

virtual opengv::point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint	(	size_t	frameIndex,
		size_t	correspondenceIndex ) const

pure virtual

Retrieve the world point of a correspondence.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding world point.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getPoint() [2/2]

virtual point_t opengv::absolute_pose::AbsoluteMultiAdapterBase::getPoint ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ getWeight() [1/2]

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight	(	size_t	frameIndex,
		size_t	correspondenceIndex ) const

pure virtual

Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1.

Parameters

[in]	frameIndex	Index of the frame.
[in]	correspondenceIndex	Index of the correspondence in this frame.

Returns: The corresponding weight.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ getWeight() [2/2]

virtual double opengv::absolute_pose::AbsoluteMultiAdapterBase::getWeight ( size_t index ) const

inlinevirtual

See parent-class (no need to overload)

Implements opengv::absolute_pose::AbsoluteAdapterBase.

◆ multiCorrespondenceIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiCorrespondenceIndex ( size_t index ) const

pure virtual

Get the correspondence-index in a camera for a serialized index.

Parameters

[in] index The serialized index.

Returns: The correspondence-index in the camera.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

◆ multiFrameIndex()

virtual int opengv::absolute_pose::AbsoluteMultiAdapterBase::multiFrameIndex ( size_t index ) const

pure virtual

Get the frame-index corresponding to a serialized index.

Parameters

[in] index The serialized index.

Returns: The frame index.

Implemented in opengv::absolute_pose::NoncentralAbsoluteMultiAdapter.

Member Data Documentation

◆ _R

opengv::rotation_t opengv::absolute_pose::AbsoluteAdapterBase::_R

protected

The prior or known value for the rotation from the viewpoint back to the world frame. Initialized to identity if not provided.

◆ _t

opengv::translation_t opengv::absolute_pose::AbsoluteAdapterBase::_t

protected

The prior or known value for the position of the viewpoint seen from the world frame. Initialized to zero if not provided.

The documentation for this class was generated from the following file:

include/opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AbsoluteMultiAdapterBase() [1/2]

◆ AbsoluteMultiAdapterBase() [2/2]

Member Function Documentation

◆ convertMultiIndex()

◆ convertMultiIndices()

◆ getBearingVector() [1/2]

◆ getBearingVector() [2/2]

◆ getCamOffset()

◆ getCamRotation()

◆ getMultiCamOffset()

◆ getMultiCamRotation()

◆ getNumberCorrespondences() [1/2]

◆ getNumberCorrespondences() [2/2]

◆ getNumberFrames()

◆ getPoint() [1/2]

◆ getPoint() [2/2]

◆ getWeight() [1/2]

◆ getWeight() [2/2]

◆ multiCorrespondenceIndex()

◆ multiFrameIndex()

Member Data Documentation

◆ _R

◆ _t