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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
estimatorThe estimator.
nCameraSystemCamera configuration and parameters.
multiFrameIdAThe first multiframe.
camIdAThe camera index for the first multiframe in order to access the relevant frame.
multiFrameIdBThe second multiframe.
camIdBThe 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]indexThe 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]indexThe 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]indexThe 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]indexThe 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]indexThe 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]indexThe 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
indexThe 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
indexThe 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
indexThe 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
indexThe 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: