opengv::absolute_pose::NoncentralAbsoluteAdapter Class Reference

#include <NoncentralAbsoluteAdapter.hpp>

Inheritance diagram for opengv::absolute_pose::NoncentralAbsoluteAdapter:

Public Member Functions
	NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations)
	Constructor. See protected class-members to understand parameters.
	NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const rotation_t &R)
	Constructor. See protected class-members to understand parameters.
	NoncentralAbsoluteAdapter (const bearingVectors_t &bearingVectors, const camCorrespondences_t &camCorrespondences, const points_t &points, const translations_t &camOffsets, const rotations_t &camRotations, const translation_t &t, const rotation_t &R)
	Constructor. See protected class-members to understand parameters.
virtual	~NoncentralAbsoluteAdapter ()
	Destructor.
virtual opengv::bearingVector_t	getBearingVector (size_t index) const
virtual double	getWeight (size_t index) const
virtual opengv::translation_t	getCamOffset (size_t index) const
virtual opengv::rotation_t	getCamRotation (size_t index) const
virtual opengv::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.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int >	camCorrespondences_t

Protected Attributes
const bearingVectors_t &	_bearingVectors
const camCorrespondences_t &	_camCorrespondences
const points_t &	_points
const translations_t &	_camOffsets
const rotations_t &	_camRotations
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

getBearingVector()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

getCamOffset()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

getCamRotation()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

getNumberCorrespondences()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

getPoint()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

getWeight()

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

virtual

See parent-class

Implements opengv::absolute_pose::AbsoluteAdapterBase.

Member Data Documentation

_bearingVectors

const bearingVectors_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_bearingVectors

protected

Reference to the bearing-vectors expressed in the camera-frames

_camCorrespondences

const camCorrespondences_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camCorrespondences

protected

Reference to an array of camera-indices for the bearing vectors. Length equals to number of bearing-vectors, and elements are indices of cameras in the _camOffsets and _camRotations arrays.

_camOffsets

const translations_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camOffsets

protected

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

_camRotations

const rotations_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_camRotations

protected

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

_points

const points_t& opengv::absolute_pose::NoncentralAbsoluteAdapter::_points

protected

Reference to the points expressed in the world-frame.

_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.

camCorrespondences_t

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<int> opengv::absolute_pose::NoncentralAbsoluteAdapter::camCorrespondences_t

A type defined for the camera-correspondences, see protected class-members

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

• include/opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp