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opengv::absolute_pose::FrameNoncentralAbsoluteAdapter Class Reference

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
estimatorEstimator.
nCameraSystemCamera configuration and parameters.
frameThe 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
indexThe 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]indexThe 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]indexThe 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]indexThe 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]indexThe 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
indexThe 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
indexThe 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: