37#ifndef OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_
38#define OPENGV_RELATIVE_POSE_MACENTRALRELATIVE_HPP_
53namespace relative_pose
68 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
74 const double * bearingVectors1,
75 const double * bearingVectors2,
76 int numberBearingVectors1,
77 int numberBearingVectors2 );
Adapter-class for passing bearing-vector correspondences to the relative-pose algorithms.
Definition MACentralRelative.hpp:62
virtual translation_t getCamOffset1(size_t index) const
int _numberBearingVectors1
Definition MACentralRelative.hpp:109
virtual size_t getNumberCorrespondences() const
virtual double getWeight(size_t index) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW MACentralRelative(const double *bearingVectors1, const double *bearingVectors2, int numberBearingVectors1, int numberBearingVectors2)
Constructor. See protected class-members to understand parameters.
virtual ~MACentralRelative()
Destructor.
const double * _bearingVectors1
Definition MACentralRelative.hpp:105
virtual bearingVector_t getBearingVector1(size_t index) const
virtual translation_t getCamOffset2(size_t index) const
virtual rotation_t getCamRotation1(size_t index) const
const double * _bearingVectors2
Definition MACentralRelative.hpp:107
int _numberBearingVectors2
Definition MACentralRelative.hpp:111
virtual rotation_t getCamRotation2(size_t index) const
virtual bearingVector_t getBearingVector2(size_t index) const
Definition RelativeAdapterBase.hpp:64
opengv::translation_t _t12
Definition RelativeAdapterBase.hpp:184
opengv::rotation_t _R12
Definition RelativeAdapterBase.hpp:188
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
Eigen::Matrix3d rotation_t
Definition types.hpp:71
Eigen::Vector3d translation_t
Definition types.hpp:63
Eigen::Vector3d bearingVector_t
Definition types.hpp:55
A collection of variables used in geometric vision for the computation of calibrated absolute and rel...