39 #ifndef INCLUDE_OKVIS_OPENGV_FRAMENONCENTRALABSOLUTEADAPTER_HPP_
40 #define INCLUDE_OKVIS_OPENGV_FRAMENONCENTRALABSOLUTEADAPTER_HPP_
45 #include <opengv/types.hpp>
46 #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
59 namespace absolute_pose {
65 using AbsoluteAdapterBase::_t;
66 using AbsoluteAdapterBase::_R;
69 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
82 const okvis::Estimator & estimator,
83 const okvis::cameras::NCameraSystem & nCameraSystem,
84 std::shared_ptr<okvis::MultiFrame> frame);
106 virtual opengv::translation_t
getCamOffset(
size_t index)
const;
122 virtual opengv::point_t
getPoint(
size_t index)
const;
Header file for the NCameraSystem class.
double getSigmaAngle(size_t index)
Obtain the angular standard deviation in [rad].
Definition: FrameNoncentralAbsoluteAdapter.cpp:198
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int > matches_t
type for describing matches.
Definition: FrameNoncentralAbsoluteAdapter.hpp:73
opengv::bearingVectors_t bearingVectors_
The bearing vectors of the correspondences.
Definition: FrameNoncentralAbsoluteAdapter.hpp:169
virtual opengv::rotation_t getCamRotation(size_t index) const
Retrieve the rotation from a camera of a correspondence to the viewpoint origin.
Definition: FrameNoncentralAbsoluteAdapter.cpp:185
opengv::rotations_t camRotations_
The rotation of the cameras to the viewpoint origin.
Definition: FrameNoncentralAbsoluteAdapter.hpp:184
int keypointIndex(size_t index) const
Get the keypoint index for a specific correspondence.
Definition: FrameNoncentralAbsoluteAdapter.hpp:147
std::vector< size_t > keypointIndices_
The keypoint indices of the correspondences.
Definition: FrameNoncentralAbsoluteAdapter.hpp:178
std::vector< double > sigmaAngles_
The standard deviations of the bearing vectors in [rad].
Definition: FrameNoncentralAbsoluteAdapter.hpp:187
opengv::points_t points_
The world coordinates of the correspondences.
Definition: FrameNoncentralAbsoluteAdapter.hpp:172
int camIndex(size_t index) const
Get the camera index for a specific correspondence.
Definition: FrameNoncentralAbsoluteAdapter.hpp:140
virtual opengv::bearingVector_t getBearingVector(size_t index) const
Retrieve the bearing vector of a correspondence.
Definition: FrameNoncentralAbsoluteAdapter.cpp:165
virtual size_t getNumberCorrespondences() const
Get the number of correspondences. These are keypoints that have a corresponding landmark which is ad...
Definition: FrameNoncentralAbsoluteAdapter.cpp:193
#define OKVIS_DEFINE_EXCEPTION(exceptionName, exceptionParent)
Macro for defining an exception with a given parent.
Definition: assert_macros.hpp:52
virtual opengv::point_t getPoint(size_t index) const
Retrieve the world point of a correspondence.
Definition: FrameNoncentralAbsoluteAdapter.cpp:172
Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup...
Definition: FrameNoncentralAbsoluteAdapter.hpp:63
std::vector< size_t > camIndices_
The camera indices of the correspondences.
Definition: FrameNoncentralAbsoluteAdapter.hpp:175
Header file for the Estimator class. This does all the backend work.
virtual opengv::translation_t getCamOffset(size_t index) const
Retrieve the position of a camera of a correspondence seen from the viewpoint origin.
Definition: FrameNoncentralAbsoluteAdapter.cpp:179
opengv::translations_t camOffsets_
The position of the cameras seen from the viewpoint origin.
Definition: FrameNoncentralAbsoluteAdapter.hpp:181
virtual double getWeight(size_t) const
Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspon...
Definition: FrameNoncentralAbsoluteAdapter.hpp:155
This file contains useful typedefs and structs related to frames.