#include <NoncentralAbsoluteMultiAdapter.hpp>

Inheritance diagram for opengv::absolute_pose::NoncentralAbsoluteMultiAdapter:

Public Member Functions
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	~NoncentralAbsoluteMultiAdapter ()
	Destructor.
virtual point_t	getPoint (size_t frameIndex, size_t correspondenceIndex) const
virtual bearingVector_t	getBearingVector (size_t frameIndex, size_t correspondenceIndex) const
virtual double	getWeight (size_t frameIndex, size_t correspondenceIndex) const
virtual translation_t	getMultiCamOffset (size_t frameIndex) const
virtual rotation_t	getMultiCamRotation (size_t frameIndex) const
virtual size_t	getNumberCorrespondences (size_t frameIndex) const
virtual size_t	getNumberFrames () const
virtual std::vector< int >	convertMultiIndices (const std::vector< std::vector< int > > &multiIndices) const
virtual int	convertMultiIndex (size_t frameIndex, size_t correspondenceIndex) const
virtual int	multiFrameIndex (size_t index) const
virtual int	multiCorrespondenceIndex (size_t index) const
Public Member Functions inherited from opengv::absolute_pose::AbsoluteMultiAdapterBase
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 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
std::vector< std::shared_ptr< bearingVectors_t > >	_bearingVectors
std::vector< std::shared_ptr< points_t > >	_points
const translations_t &	_camOffsets
const rotations_t &	_camRotations
std::vector< int >	multiFrameIndices
std::vector< int >	multiKeypointIndices
std::vector< int >	singleIndexOffsets
opengv::translation_t	_t
opengv::rotation_t	_R
Protected Attributes inherited from opengv::absolute_pose::AbsoluteMultiAdapterBase
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

Check the documentation of the parent-class to understand the meaning of an AbsoluteAdapter. This child-class is for the non-central case and holds data in form of references to opengv-types.

Member Function Documentation

◆ convertMultiIndex()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ convertMultiIndices()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getBearingVector()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getMultiCamOffset()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getMultiCamRotation()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getNumberCorrespondences()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getNumberFrames()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getPoint()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ getWeight()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ multiCorrespondenceIndex()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

◆ multiFrameIndex()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteMultiAdapterBase.

Member Data Documentation

◆ _bearingVectors

std::vector<std::shared_ptr<bearingVectors_t> > opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_bearingVectors

protected

References to multiple sets of bearing-vectors (the ones from each camera).

◆ _camOffsets

const translations_t& opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_camOffsets

protected

Reference to positions of the different cameras seen from the viewpoint.

◆ _camRotations

const rotations_t& opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_camRotations

protected

Reference to rotations from the different cameras back to the viewpoint.

◆ _points

std::vector<std::shared_ptr<points_t> > opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::_points

protected

References to multiple sets of points (the ones from each camera).

◆ _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.

◆ multiFrameIndices

std::vector<int> opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiFrameIndices

protected

Initialized in constructor, used for (de)-serialiaztion of indices

◆ multiKeypointIndices

std::vector<int> opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::multiKeypointIndices

protected

Initialized in constructor, used for (de)-serialiaztion of indices

◆ singleIndexOffsets

std::vector<int> opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::singleIndexOffsets

protected

Initialized in constructor, used for (de)-serialiaztion of indices

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

include/opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ convertMultiIndex()

◆ convertMultiIndices()

◆ getBearingVector()

◆ getMultiCamOffset()

◆ getMultiCamRotation()

◆ getNumberCorrespondences()

◆ getNumberFrames()

◆ getPoint()

◆ getWeight()

◆ multiCorrespondenceIndex()

◆ multiFrameIndex()

Member Data Documentation

◆ _bearingVectors

◆ _camOffsets

◆ _camRotations

◆ _points

◆ _R

◆ _t

◆ multiFrameIndices

◆ multiKeypointIndices

◆ singleIndexOffsets