38 #ifndef OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
39 #define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
54 namespace absolute_pose
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Adapter-class for passing bearing-vector-to-point correspondences to the absolute-pose algorithms.
Definition: AbsoluteAdapterBase.hpp:64
opengv::rotation_t _R
Definition: AbsoluteAdapterBase.hpp:174
opengv::translation_t _t
Definition: AbsoluteAdapterBase.hpp:164
Definition: CentralAbsoluteAdapter.hpp:63
virtual double getWeight(size_t index) const
virtual opengv::point_t getPoint(size_t index) const
const bearingVectors_t & _bearingVectors
Definition: CentralAbsoluteAdapter.hpp:114
virtual size_t getNumberCorrespondences() const
const points_t & _points
Definition: CentralAbsoluteAdapter.hpp:116
virtual opengv::rotation_t getCamRotation(size_t index) const
virtual opengv::bearingVector_t getBearingVector(size_t index) const
virtual ~CentralAbsoluteAdapter()
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points)
Constructor. See protected class-members to understand parameters.
virtual opengv::translation_t getCamOffset(size_t index) const
CentralAbsoluteAdapter(const bearingVectors_t &bearingVectors, const points_t &points, const translation_t &t, const rotation_t &R)
Constructor. See protected class-members to understand parameters.
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::Vector3d point_t
Definition: types.hpp:123
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
Eigen::Vector3d translation_t
Definition: types.hpp:63
Eigen::Vector3d bearingVector_t
Definition: types.hpp:55
std::vector< point_t, Eigen::aligned_allocator< point_t > > points_t
Definition: types.hpp:127
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...