123 lines
4.9 KiB
C++
123 lines
4.9 KiB
C++
/******************************************************************************
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* Author: Laurent Kneip *
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* Contact: kneip.laurent@gmail.com *
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* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions *
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* are met: *
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* * Redistributions of source code must retain the above copyright *
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* notice, this list of conditions and the following disclaimer. *
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* * Redistributions in binary form must reproduce the above copyright *
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* notice, this list of conditions and the following disclaimer in the *
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* documentation and/or other materials provided with the distribution. *
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* * Neither the name of ANU nor the names of its contributors may be *
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* used to endorse or promote products derived from this software without *
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* specific prior written permission. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
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* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
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* SUCH DAMAGE. *
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******************************************************************************/
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/**
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* \file CentralAbsoluteAdapter.hpp
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* \brief Adapter-class for passing bearing-vector-to-point correspondences to
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* the central absolute-pose algorithms. It maps opengv types
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* back to opengv types.
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*/
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#ifndef OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
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#define OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_
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#include <stdlib.h>
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#include <vector>
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#include <opengv/types.hpp>
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#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
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/**
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* \brief The namespace of this library.
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*/
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namespace opengv
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{
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/**
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* \brief The namespace for the absolute pose methods.
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*/
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namespace absolute_pose
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{
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/**
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* Check the documentation of the parent-class to understand the meaning of
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* an AbsoluteAdapter. This child-class is for the central case and holds data
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* in form of references to opengv-types.
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*/
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class CentralAbsoluteAdapter : public AbsoluteAdapterBase
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{
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protected:
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using AbsoluteAdapterBase::_t;
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using AbsoluteAdapterBase::_R;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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/**
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* \brief Constructor. See protected class-members to understand parameters
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*/
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CentralAbsoluteAdapter(
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const bearingVectors_t & bearingVectors,
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const points_t & points );
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/**
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* \brief Constructor. See protected class-members to understand parameters
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*/
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CentralAbsoluteAdapter(
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const bearingVectors_t & bearingVectors,
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const points_t & points,
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const rotation_t & R );
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/**
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* \brief Constructor. See protected class-members to understand parameters
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*/
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CentralAbsoluteAdapter(
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const bearingVectors_t & bearingVectors,
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const points_t & points,
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const translation_t & t,
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const rotation_t & R );
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/**
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* Destructor
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*/
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virtual ~CentralAbsoluteAdapter();
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//Access of correspondences
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/** See parent-class */
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virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
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/** See parent-class */
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virtual double getWeight( size_t index ) const;
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/** See parent-class. Returns zero for this adapter. */
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virtual opengv::translation_t getCamOffset( size_t index ) const;
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/** See parent-class Returns identity for this adapter. */
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virtual opengv::rotation_t getCamRotation( size_t index ) const;
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/** See parent-class */
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virtual opengv::point_t getPoint( size_t index ) const;
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/** See parent-class */
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virtual size_t getNumberCorrespondences() const;
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protected:
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/** Reference to the bearing-vectors expressed in the camera-frame */
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const bearingVectors_t & _bearingVectors;
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/** Reference to the points expressed in the world-frame. */
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const points_t & _points;
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};
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}
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}
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#endif /* OPENGV_ABSOLUTE_POSE_CENTRALABSOLUTEADAPTER_HPP_ */
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