opengv::relative_pose::FrameRelativeAdapter Class Reference

Adapter for relative pose RANSAC (2D2D) More...

#include <FrameRelativeAdapter.hpp>

Inheritance diagram for opengv::relative_pose::FrameRelativeAdapter:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FrameRelativeAdapter (const okvis::Estimator &estimator, const okvis::cameras::NCameraSystem &nCameraSystem, uint64_t multiFrameIdA, size_t camIdA, uint64_t multiFrameIdB, size_t camIdB)
	Constructor. More...
virtual	~FrameRelativeAdapter ()
double	getSigmaAngle1 (size_t index)
	Obtain the angular standard deviation of the correspondence in frame 1 in [rad]. More...
double	getSigmaAngle2 (size_t index)
	Obtain the angular standard deviation of the correspondence in frame 2 in [rad]. More...
size_t	getMatchKeypointIdxA (size_t index)
	Get the keypoint index in frame 1 of a correspondence. More...
size_t	getMatchKeypointIdxB (size_t index)
	Get the keypoint index in frame 2 of a 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...
Algorithm input
virtual opengv::bearingVector_t	getBearingVector1 (size_t index) const
	Retrieve the bearing vector of a correspondence in viewpoint 1. More...
virtual opengv::bearingVector_t	getBearingVector2 (size_t index) const
	Retrieve the bearing vector of a correspondence in viewpoint 2. More...
virtual opengv::translation_t	getCamOffset1 (size_t index) const
	Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the viewpoint. More...
virtual opengv::rotation_t	getCamRotation1 (size_t index) const
	Retrieve the rotation from a camera of a correspondence in viewpoint 1 to the viewpoint origin. More...
virtual opengv::translation_t	getCamOffset2 (size_t index) const
	Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the viewpoint. More...
virtual opengv::rotation_t	getCamRotation2 (size_t index) const
	Retrieve the rotation from a camera of a correspondence in viewpoint 2 to the viewpoint origin. More...
virtual size_t	getNumberCorrespondences () const
	Retrieve the number of correspondences. More...

Private Attributes
opengv::bearingVectors_t	bearingVectors1_
	The bearing vectors of the correspondences in frame 1. More...
opengv::bearingVectors_t	bearingVectors2_
	The bearing vectors of the correspondences in frame 2. More...
okvis::Matches	matches_
	The matching keypoints of both frames. More...
std::vector< double >	sigmaAngles1_
	The standard deviations of the bearing vectors of frame 1 in [rad]. More...
std::vector< double >	sigmaAngles2_
	The standard deviations of the bearing vectors of frame 2' in [rad]. More...

Detailed Description

Adapter for relative pose RANSAC (2D2D)

Constructor & Destructor Documentation

opengv::relative_pose::FrameRelativeAdapter::FrameRelativeAdapter	(	const okvis::Estimator &	estimator,
		const okvis::cameras::NCameraSystem &	nCameraSystem,
		uint64_t	multiFrameIdA,
		size_t	camIdA,
		uint64_t	multiFrameIdB,
		size_t	camIdB
	)

Constructor.

Parameters

estimator	The estimator.
nCameraSystem	Camera configuration and parameters.
multiFrameIdA	The first multiframe.
camIdA	The camera index for the first multiframe in order to access the relevant frame.
multiFrameIdB	The second multiframe.
camIdB	The camera index for the second multiframe. in order to access the relevant frame.

virtual opengv::relative_pose::FrameRelativeAdapter::~FrameRelativeAdapter ( )

inlinevirtual

Member Function Documentation

opengv::bearingVector_t opengv::relative_pose::FrameRelativeAdapter::getBearingVector1 ( size_t  index ) const

virtual

Retrieve the bearing vector of a correspondence in viewpoint 1.

Parameters

[in]

index

The serialized index of the correspondence.

Returns

The corresponding bearing vector.

opengv::bearingVector_t opengv::relative_pose::FrameRelativeAdapter::getBearingVector2 ( size_t  index ) const

virtual

Retrieve the bearing vector of a correspondence in viewpoint 2.

Parameters

[in]

index

The serialized index of the correspondence.

Returns

The corresponding bearing vector.

opengv::translation_t opengv::relative_pose::FrameRelativeAdapter::getCamOffset1 ( size_t  index ) const

virtual

Retrieve the position of a camera of a correspondence in viewpoint 1 seen from the origin of the viewpoint.

Parameters

[in]

index

The serialized index of the correspondence.

Returns

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

opengv::translation_t opengv::relative_pose::FrameRelativeAdapter::getCamOffset2 ( size_t  index ) const

virtual

Retrieve the position of a camera of a correspondence in viewpoint 2 seen from the origin of the viewpoint.

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::relative_pose::FrameRelativeAdapter::getCamRotation1 ( size_t  index ) const

virtual

Retrieve the rotation from a camera of a correspondence in viewpoint 1 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.

opengv::rotation_t opengv::relative_pose::FrameRelativeAdapter::getCamRotation2 ( size_t  index ) const

virtual

Retrieve the rotation from a camera of a correspondence in viewpoint 2 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::relative_pose::FrameRelativeAdapter::getMatchKeypointIdxA ( size_t  index )

inline

Get the keypoint index in frame 1 of a correspondence.

Parameters

index

The serialized index of the correspondence.

Returns

The keypoint index of the correspondence in frame 1.

size_t opengv::relative_pose::FrameRelativeAdapter::getMatchKeypointIdxB ( size_t  index )

inline

Get the keypoint index in frame 2 of a correspondence.

Parameters

index

The serialized index of the correspondence.

Returns

The keypoint index of the correspondence in frame 2.

size_t opengv::relative_pose::FrameRelativeAdapter::getNumberCorrespondences ( ) const

virtual

Retrieve the number of correspondences.

Returns

The number of correspondences.

double opengv::relative_pose::FrameRelativeAdapter::getSigmaAngle1

(

size_t

index

)

Obtain the angular standard deviation of the correspondence in frame 1 in [rad].

Parameters

index

The index of the correspondence.

Returns

The standard deviation in [rad].

double opengv::relative_pose::FrameRelativeAdapter::getSigmaAngle2

(

size_t

index

)

Obtain the angular standard deviation of the correspondence in frame 2 in [rad].

Parameters

index

The index of the correspondence.

Returns

The standard deviation in [rad].

virtual double opengv::relative_pose::FrameRelativeAdapter::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.

Member Data Documentation

opengv::bearingVectors_t opengv::relative_pose::FrameRelativeAdapter::bearingVectors1_

private

The bearing vectors of the correspondences in frame 1.

opengv::bearingVectors_t opengv::relative_pose::FrameRelativeAdapter::bearingVectors2_

private

The bearing vectors of the correspondences in frame 2.

okvis::Matches opengv::relative_pose::FrameRelativeAdapter::matches_

private

The matching keypoints of both frames.

std::vector<double> opengv::relative_pose::FrameRelativeAdapter::sigmaAngles1_

private

The standard deviations of the bearing vectors of frame 1 in [rad].

std::vector<double> opengv::relative_pose::FrameRelativeAdapter::sigmaAngles2_

private

The standard deviations of the bearing vectors of frame 2' in [rad].

---

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

• okvis_frontend/include/opengv/relative_pose/FrameRelativeAdapter.hpp
• okvis_frontend/src/FrameRelativeAdapter.cpp