38 #ifndef OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
39 #define OPENGV_RELATIVE_POSE_CENTRALRELATIVEADAPTER_HPP_
54 namespace relative_pose
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition: CentralRelativeAdapter.hpp:63
virtual bearingVector_t getBearingVector2(size_t index) const
const bearingVectors_t & _bearingVectors2
Definition: CentralRelativeAdapter.hpp:120
virtual translation_t getCamOffset2(size_t index) const
CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const translation_t &t12, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2)
Constructor. See protected class-members to understand parameters.
virtual rotation_t getCamRotation2(size_t index) const
virtual bearingVector_t getBearingVector1(size_t index) const
virtual rotation_t getCamRotation1(size_t index) const
virtual double getWeight(size_t index) const
virtual translation_t getCamOffset1(size_t index) const
const bearingVectors_t & _bearingVectors1
Definition: CentralRelativeAdapter.hpp:118
CentralRelativeAdapter(const bearingVectors_t &bearingVectors1, const bearingVectors_t &bearingVectors2, const rotation_t &R12)
Constructor. See protected class-members to understand parameters.
virtual size_t getNumberCorrespondences() const
virtual ~CentralRelativeAdapter()
Destructor.
Definition: RelativeAdapterBase.hpp:64
opengv::translation_t _t12
Definition: RelativeAdapterBase.hpp:178
opengv::rotation_t _R12
Definition: RelativeAdapterBase.hpp:188
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
std::vector< bearingVector_t, Eigen::aligned_allocator< bearingVector_t > > bearingVectors_t
Definition: types.hpp:59
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...