36 #ifndef OPENGV_POINTCLOUDADAPTERBASE_HPP_
37 #define OPENGV_POINTCLOUDADAPTERBASE_HPP_
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 _t12(Eigen::Vector3d::Zero()),
71 _R12(Eigen::Matrix3d::Identity()) {};
78 _t12(Eigen::Vector3d::Zero()),
Definition: PointCloudAdapterBase.hpp:62
virtual opengv::point_t getPoint1(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 1.
virtual double getWeight(size_t index) const =0
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
rotation_t _R12
Definition: PointCloudAdapterBase.hpp:154
virtual ~PointCloudAdapterBase()
Destructor.
Definition: PointCloudAdapterBase.hpp:93
translation_t _t12
Definition: PointCloudAdapterBase.hpp:144
virtual opengv::translation_t gett12() const
Retrieve the prior or known value for the relative position.
Definition: PointCloudAdapterBase.hpp:129
virtual void setR12(const rotation_t &R12)
Set the prior or known value for the relative rotation.
Definition: PointCloudAdapterBase.hpp:144
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PointCloudAdapterBase()
Constructor.
Definition: PointCloudAdapterBase.hpp:69
virtual opengv::rotation_t getR12() const
Retrieve the prior or known value for the relative rotation.
Definition: PointCloudAdapterBase.hpp:139
virtual size_t getNumberCorrespondences() const =0
Retrieve the number of correspondences.
PointCloudAdapterBase(const translation_t &t12, const rotation_t &R12)
Constructor.
Definition: PointCloudAdapterBase.hpp:87
virtual opengv::point_t getPoint2(size_t index) const =0
Retrieve the 3D-point of a correspondence in frame 2.
PointCloudAdapterBase(const rotation_t &R12)
Constructor.
Definition: PointCloudAdapterBase.hpp:77
virtual void sett12(const translation_t &t12)
Set the prior or known value for the relative position.
Definition: PointCloudAdapterBase.hpp:134
The namespace of this library.
Definition: AbsoluteAdapterBase.hpp:48
Eigen::Vector3d point_t
Definition: types.hpp:123
Eigen::Matrix3d rotation_t
Definition: types.hpp:71
Eigen::Vector3d translation_t
Definition: types.hpp:63
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...