148 lines
6.0 KiB
C++
148 lines
6.0 KiB
C++
/******************************************************************************
|
|
* Author: Laurent Kneip *
|
|
* Contact: kneip.laurent@gmail.com *
|
|
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
|
|
* *
|
|
* Redistribution and use in source and binary forms, with or without *
|
|
* modification, are permitted provided that the following conditions *
|
|
* are met: *
|
|
* * Redistributions of source code must retain the above copyright *
|
|
* notice, this list of conditions and the following disclaimer. *
|
|
* * Redistributions in binary form must reproduce the above copyright *
|
|
* notice, this list of conditions and the following disclaimer in the *
|
|
* documentation and/or other materials provided with the distribution. *
|
|
* * Neither the name of ANU nor the names of its contributors may be *
|
|
* used to endorse or promote products derived from this software without *
|
|
* specific prior written permission. *
|
|
* *
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
|
|
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
|
|
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
|
|
* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
|
|
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
|
|
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
|
|
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
|
|
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
|
|
* SUCH DAMAGE. *
|
|
******************************************************************************/
|
|
|
|
/**
|
|
* \file NoncentralAbsoluteMultiAdapter.hpp
|
|
* \brief Adapter-class for passing bearing-vector-to-point correspondences to
|
|
* the non-central absolute-pose algorithms. It maps opengv
|
|
* types back to opengv types. Manages multiple match-lists for each camera.
|
|
* This allows to draw samples homogeneously over the cameras.
|
|
*/
|
|
|
|
#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
|
|
#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEMULTIADAPTER_HPP_
|
|
|
|
#include <memory>
|
|
#include <stdlib.h>
|
|
#include <vector>
|
|
#include <opengv/types.hpp>
|
|
#include <opengv/absolute_pose/AbsoluteMultiAdapterBase.hpp>
|
|
|
|
/**
|
|
* \brief The namespace of this library.
|
|
*/
|
|
namespace opengv
|
|
{
|
|
/**
|
|
* \brief The namespace for the absolute pose methods.
|
|
*/
|
|
namespace absolute_pose
|
|
{
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
|
|
class NoncentralAbsoluteMultiAdapter : public AbsoluteMultiAdapterBase
|
|
{
|
|
protected:
|
|
using AbsoluteMultiAdapterBase::_t;
|
|
using AbsoluteMultiAdapterBase::_R;
|
|
|
|
public:
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
|
|
|
/**
|
|
* \brief Constructor. See protected class-members to understand parameters
|
|
*/
|
|
NoncentralAbsoluteMultiAdapter(
|
|
std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
|
|
std::vector<std::shared_ptr<points_t> > points,
|
|
const translations_t & camOffsets,
|
|
const rotations_t & camRotations );
|
|
/**
|
|
* \brief Destructor.
|
|
*/
|
|
virtual ~NoncentralAbsoluteMultiAdapter();
|
|
|
|
//camera-wise access of correspondences
|
|
|
|
/** See parent-class */
|
|
virtual point_t getPoint(
|
|
size_t frameIndex, size_t correspondenceIndex ) const;
|
|
/** See parent-class */
|
|
virtual bearingVector_t getBearingVector(
|
|
size_t frameIndex, size_t correspondenceIndex ) const;
|
|
/** See parent-class */
|
|
virtual double getWeight( size_t frameIndex, size_t correspondenceIndex ) const;
|
|
/** See parent-class */
|
|
virtual translation_t getMultiCamOffset( size_t frameIndex ) const;
|
|
/** See parent-class */
|
|
virtual rotation_t getMultiCamRotation( size_t frameIndex ) const;
|
|
/** See parent-class */
|
|
virtual size_t getNumberCorrespondences( size_t frameIndex ) const;
|
|
/** See parent-class */
|
|
virtual size_t getNumberFrames() const;
|
|
|
|
//Conversion to and from serialized indices
|
|
|
|
/** See parent-class */
|
|
virtual std::vector<int> convertMultiIndices(
|
|
const std::vector<std::vector<int> > & multiIndices ) const;
|
|
/** See parent-class */
|
|
virtual int convertMultiIndex(
|
|
size_t frameIndex, size_t correspondenceIndex ) const;
|
|
/** See parent-class */
|
|
virtual int multiFrameIndex( size_t index ) const;
|
|
/** See parent-class */
|
|
virtual int multiCorrespondenceIndex( size_t index ) const;
|
|
|
|
protected:
|
|
/** References to multiple sets of bearing-vectors (the ones from each camera).
|
|
*/
|
|
std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors;
|
|
/** References to multiple sets of points (the ones from each camera).
|
|
*/
|
|
std::vector<std::shared_ptr<points_t> > _points;
|
|
|
|
/** Reference to positions of the different cameras seen from the
|
|
* viewpoint.
|
|
*/
|
|
const translations_t & _camOffsets;
|
|
/** Reference to rotations from the different cameras back to the
|
|
* viewpoint.
|
|
*/
|
|
const rotations_t & _camRotations;
|
|
|
|
/** Initialized in constructor, used for (de)-serialiaztion of indices */
|
|
std::vector<int> multiFrameIndices;
|
|
/** Initialized in constructor, used for (de)-serialiaztion of indices */
|
|
std::vector<int> multiKeypointIndices;
|
|
/** Initialized in constructor, used for (de)-serialiaztion of indices */
|
|
std::vector<int> singleIndexOffsets;
|
|
};
|
|
|
|
}
|
|
};
|
|
|
|
#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */
|