Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup. More...

#include <FrameNoncentralAbsoluteAdapter.hpp>

Inheritance diagram for opengv::absolute_pose::FrameNoncentralAbsoluteAdapter:

Public Member Functions
	FrameNoncentralAbsoluteAdapter (const okvis::Estimator &estimator, const okvis::cameras::NCameraSystem &nCameraSystem, std::shared_ptr< okvis::MultiFrame > frame)
	Constructor. More...

virtual	~FrameNoncentralAbsoluteAdapter ()

int	camIndex (size_t index) const
	Get the camera index for a specific correspondence. More...

int	keypointIndex (size_t index) const
	Get the keypoint index for a specific correspondence. More...

virtual double	getWeight (size_t) const
	Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1. More...

double	getSigmaAngle (size_t index)
	Obtain the angular standard deviation in [rad]. More...

Algorithm input
virtual opengv::bearingVector_t	getBearingVector (size_t index) const
	Retrieve the bearing vector of a correspondence. More...

virtual opengv::translation_t	getCamOffset (size_t index) const
	Retrieve the position of a camera of a correspondence seen from the viewpoint origin. More...

virtual opengv::rotation_t	getCamRotation (size_t index) const
	Retrieve the rotation from a camera of a correspondence to the viewpoint origin. More...

virtual opengv::point_t	getPoint (size_t index) const
	Retrieve the world point of a correspondence. More...

virtual size_t	getNumberCorrespondences () const
	Get the number of correspondences. These are keypoints that have a corresponding landmark which is added to the estimator, has more than one observation and not at infinity. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< int >	matches_t
	type for describing matches. More...

Private Attributes
opengv::bearingVectors_t	bearingVectors_
	The bearing vectors of the correspondences. More...

opengv::points_t	points_
	The world coordinates of the correspondences. More...

std::vector< size_t >	camIndices_
	The camera indices of the correspondences. More...

std::vector< size_t >	keypointIndices_
	The keypoint indices of the correspondences. More...

opengv::translations_t	camOffsets_
	The position of the cameras seen from the viewpoint origin. More...

opengv::rotations_t	camRotations_
	The rotation of the cameras to the viewpoint origin. More...

std::vector< double >	sigmaAngles_
	The standard deviations of the bearing vectors in [rad]. More...

Detailed Description

Adapter for absolute pose RANSAC (3D2D) with non-central cameras, i.e. could be a multi-camera-setup.

Constructor & Destructor Documentation

opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::FrameNoncentralAbsoluteAdapter	(	const okvis::Estimator &	estimator,
		const okvis::cameras::NCameraSystem &	nCameraSystem,
		std::shared_ptr< okvis::MultiFrame >	frame
	)

Constructor.

Parameters

estimator	Estimator.
nCameraSystem	Camera configuration and parameters.
frame	The multiframe.

virtual opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::~FrameNoncentralAbsoluteAdapter ( )

inlinevirtual

Member Function Documentation

int opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::camIndex ( size_t index ) const

inline

Get the camera index for a specific correspondence.

Parameters

index The serialized index of the correspondence.

Returns: Camera index of the correspondence.

opengv::bearingVector_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getBearingVector ( size_t index ) const

virtual

Retrieve the bearing vector of a correspondence.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding bearing vector.

opengv::translation_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getCamOffset ( size_t index ) const

virtual

Retrieve the position of a camera of a correspondence seen from the viewpoint origin.

Parameters

[in] index The serialized index of the correspondence.

Returns: The position of the corresponding camera seen from the viewpoint origin.

opengv::rotation_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getCamRotation ( size_t index ) const

virtual

Retrieve the rotation from a camera of a correspondence to the viewpoint origin.

Parameters

[in] index The serialized index of the correspondence.

Returns: The rotation from the corresponding camera back to the viewpoint origin.

size_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getNumberCorrespondences ( ) const

virtual

Get the number of correspondences. These are keypoints that have a corresponding landmark which is added to the estimator, has more than one observation and not at infinity.

Returns: Number of correspondences.

opengv::point_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getPoint ( size_t index ) const

virtual

Retrieve the world point of a correspondence.

Parameters

[in] index The serialized index of the correspondence.

Returns: The corresponding world point.

double opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getSigmaAngle ( size_t index )

Obtain the angular standard deviation in [rad].

Parameters

index The index of the correspondence.

Returns: The standard deviation in [rad].

virtual double opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::getWeight ( size_t ) const

inlinevirtual

Retrieve the weight of a correspondence. The weight is supposed to reflect the quality of a correspondence, and typically is between 0 and 1.

Warning: This is not implemented and always returns 1.0.

int opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::keypointIndex ( size_t index ) const

inline

Get the keypoint index for a specific correspondence.

Parameters

index The serialized index of the correspondence.

Returns: Keypoint index belonging to the correspondence.

Member Data Documentation

opengv::bearingVectors_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::bearingVectors_

private

The bearing vectors of the correspondences.

std::vector<size_t> opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::camIndices_

private

The camera indices of the correspondences.

opengv::translations_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::camOffsets_

private

The position of the cameras seen from the viewpoint origin.

opengv::rotations_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::camRotations_

private

The rotation of the cameras to the viewpoint origin.

std::vector<size_t> opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::keypointIndices_

private

The keypoint indices of the correspondences.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<int> opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::matches_t

type for describing matches.

opengv::points_t opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::points_

private

The world coordinates of the correspondences.

std::vector<double> opengv::absolute_pose::FrameNoncentralAbsoluteAdapter::sigmaAngles_

private

The standard deviations of the bearing vectors in [rad].

The documentation for this class was generated from the following files:

okvis_frontend/include/opengv/absolute_pose/FrameNoncentralAbsoluteAdapter.hpp
okvis_frontend/src/FrameNoncentralAbsoluteAdapter.cpp

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation