#include <NoncentralRelativeMultiAdapter.hpp>

Inheritance diagram for opengv::relative_pose::NoncentralRelativeMultiAdapter:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	NoncentralRelativeMultiAdapter (std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors1, std::vector< std::shared_ptr< bearingVectors_t > > bearingVectors2, const translations_t &camOffsets, const rotations_t &camRotations)
	Constructor. See protected class-members to understand parameters.
virtual	~NoncentralRelativeMultiAdapter ()
	Destructor.
virtual bearingVector_t	getBearingVector1 (size_t pairIndex, size_t correspondenceIndex) const
virtual bearingVector_t	getBearingVector2 (size_t pairIndex, size_t correspondenceIndex) const
virtual double	getWeight (size_t camIndex, size_t correspondenceIndex) const
virtual translation_t	getCamOffset (size_t pairIndex) const
virtual rotation_t	getCamRotation (size_t pairIndex) const
virtual size_t	getNumberCorrespondences (size_t pairIndex) const
virtual size_t	getNumberPairs () const
virtual std::vector< int >	convertMultiIndices (const std::vector< std::vector< int > > &multiIndices) const
virtual int	convertMultiIndex (size_t camIndex, size_t correspondenceIndex) const
virtual int	multiPairIndex (size_t index) const
virtual int	multiCorrespondenceIndex (size_t index) const
Public Member Functions inherited from opengv::relative_pose::RelativeMultiAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RelativeMultiAdapterBase ()
	RelativeMultiAdapterBase (const rotation_t &R12)
	RelativeMultiAdapterBase (const translation_t &t12, const rotation_t &R12)
virtual	~RelativeMultiAdapterBase ()
virtual bearingVector_t	getBearingVector1 (size_t index) const
virtual bearingVector_t	getBearingVector2 (size_t index) const
virtual double	getWeight (size_t index) const
virtual translation_t	getCamOffset1 (size_t index) const
virtual rotation_t	getCamRotation1 (size_t index) const
virtual translation_t	getCamOffset2 (size_t index) const
virtual rotation_t	getCamRotation2 (size_t index) const
virtual size_t	getNumberCorrespondences () const
Public Member Functions inherited from opengv::relative_pose::RelativeAdapterBase
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RelativeAdapterBase ()
	Constructor.
	RelativeAdapterBase (const rotation_t &R12)
	Constructor.
	RelativeAdapterBase (const translation_t &t12, const rotation_t &R12)
	Constructor.
virtual	~RelativeAdapterBase ()
	Destructor.
opengv::translation_t	gett12 () const
	Retrieve the prior or known value for the relative position.
void	sett12 (const opengv::translation_t &t12)
	Set the prior or known value for the relative position.
opengv::rotation_t	getR12 () const
	Retrieve the prior or known value for the relative rotation.
void	setR12 (const opengv::rotation_t &R12)
	Set the prior or known value for the relative rotation.

Protected Attributes
std::vector< std::shared_ptr< bearingVectors_t > >	_bearingVectors1
std::vector< std::shared_ptr< bearingVectors_t > >	_bearingVectors2
const translations_t &	_camOffsets
const rotations_t &	_camRotations
std::vector< int >	multiPairIndices
std::vector< int >	multiKeypointIndices
std::vector< int >	singleIndexOffsets
Protected Attributes inherited from opengv::relative_pose::RelativeMultiAdapterBase
opengv::translation_t	_t12
opengv::rotation_t	_R12
Protected Attributes inherited from opengv::relative_pose::RelativeAdapterBase
opengv::translation_t	_t12
opengv::rotation_t	_R12

Detailed Description

Check the documentation of the parent-class to understand the meaning of a RelativeMultiAdapter. This child-class is for the relative non-central case and holds data in form of references to opengv-types. It is meant to be used for problems involving two non-central viewpoints, but in the special case where correspondences result from two cameras with equal transformation to their two viewpoints.

Member Function Documentation

◆ convertMultiIndex()

virtual int opengv::relative_pose::NoncentralRelativeMultiAdapter::convertMultiIndex	(	size_t	camIndex,
		size_t	correspondenceIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ convertMultiIndices()

virtual std::vector< int > opengv::relative_pose::NoncentralRelativeMultiAdapter::convertMultiIndices ( const std::vector< std::vector< int > > & multiIndices ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getBearingVector1()

virtual bearingVector_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getBearingVector1	(	size_t	pairIndex,
		size_t	correspondenceIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getBearingVector2()

virtual bearingVector_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getBearingVector2	(	size_t	pairIndex,
		size_t	correspondenceIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getCamOffset()

virtual translation_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getCamOffset ( size_t pairIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getCamRotation()

virtual rotation_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getCamRotation ( size_t pairIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getNumberCorrespondences()

virtual size_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getNumberCorrespondences ( size_t pairIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getNumberPairs()

virtual size_t opengv::relative_pose::NoncentralRelativeMultiAdapter::getNumberPairs ( ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ getWeight()

virtual double opengv::relative_pose::NoncentralRelativeMultiAdapter::getWeight	(	size_t	camIndex,
		size_t	correspondenceIndex ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ multiCorrespondenceIndex()

virtual int opengv::relative_pose::NoncentralRelativeMultiAdapter::multiCorrespondenceIndex ( size_t index ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

◆ multiPairIndex()

virtual int opengv::relative_pose::NoncentralRelativeMultiAdapter::multiPairIndex ( size_t index ) const

virtual

See parent-class

Implements opengv::relative_pose::RelativeMultiAdapterBase.

Member Data Documentation

◆ _bearingVectors1

std::vector<std::shared_ptr<bearingVectors_t> > opengv::relative_pose::NoncentralRelativeMultiAdapter::_bearingVectors1

protected

References to multiple sets of bearing-vectors (the ones from camera 1 of each pair, and expressed in there).

◆ _bearingVectors2

std::vector<std::shared_ptr<bearingVectors_t> > opengv::relative_pose::NoncentralRelativeMultiAdapter::_bearingVectors2

protected

References to multiple sets of bearing-vectors (the ones from camera 2 of each pair, and expressed in there).

◆ _camOffsets

const translations_t& opengv::relative_pose::NoncentralRelativeMultiAdapter::_camOffsets

protected

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

◆ _camRotations

const rotations_t& opengv::relative_pose::NoncentralRelativeMultiAdapter::_camRotations

protected

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

◆ multiKeypointIndices

std::vector<int> opengv::relative_pose::NoncentralRelativeMultiAdapter::multiKeypointIndices

protected

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

◆ multiPairIndices

std::vector<int> opengv::relative_pose::NoncentralRelativeMultiAdapter::multiPairIndices

protected

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

◆ singleIndexOffsets

std::vector<int> opengv::relative_pose::NoncentralRelativeMultiAdapter::singleIndexOffsets

protected

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

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

include/opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ convertMultiIndex()

◆ convertMultiIndices()

◆ getBearingVector1()

◆ getBearingVector2()

◆ getCamOffset()

◆ getCamRotation()

◆ getNumberCorrespondences()

◆ getNumberPairs()

◆ getWeight()

◆ multiCorrespondenceIndex()

◆ multiPairIndex()

Member Data Documentation

◆ _bearingVectors1

◆ _bearingVectors2

◆ _camOffsets

◆ _camRotations

◆ multiKeypointIndices

◆ multiPairIndices

◆ singleIndexOffsets