AbsoluteMultiAdapterBase.hpp

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/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
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#ifndef OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_
#define OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>

namespace opengv
{
namespace absolute_pose
{

class AbsoluteMultiAdapterBase : public AbsoluteAdapterBase
{
protected:
  using AbsoluteAdapterBase::_t;
  using AbsoluteAdapterBase::_R;
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  AbsoluteMultiAdapterBase() :
      AbsoluteAdapterBase() {};
  AbsoluteMultiAdapterBase( const opengv::rotation_t & R ) :
      AbsoluteAdapterBase(R) {};
  AbsoluteMultiAdapterBase(
      const opengv::translation_t & t,
      const opengv::rotation_t & R ) :
      AbsoluteAdapterBase(t,R) {};
  virtual ~AbsoluteMultiAdapterBase() {};

  //camera-wise access of correspondences
  
  virtual opengv::bearingVector_t getBearingVector(
      size_t frameIndex, size_t correspondenceIndex ) const = 0;
  virtual double getWeight(
      size_t frameIndex, size_t correspondenceIndex ) const = 0;
  virtual opengv::translation_t getMultiCamOffset( size_t frameIndex ) const = 0;
  virtual opengv::rotation_t getMultiCamRotation( size_t frameIndex ) const = 0;
  virtual opengv::point_t getPoint(
      size_t frameIndex, size_t correspondenceIndex ) const = 0;
  virtual size_t getNumberCorrespondences( size_t frameIndex ) const = 0;
  virtual size_t getNumberFrames() const = 0;
  
  //Conversion to and from serialized indices
  
  virtual std::vector<int> convertMultiIndices(
      const std::vector<std::vector<int> > & multiIndices ) const = 0;
  virtual int convertMultiIndex(
      size_t frameIndex, size_t correspondenceIndex ) const = 0;
  virtual int multiFrameIndex( size_t index ) const = 0;
  virtual int multiCorrespondenceIndex( size_t index ) const = 0;
  
  //the classic interface (with serialized indices, used by the opengv-methods)
  
  virtual bearingVector_t getBearingVector( size_t index ) const
  {
    return getBearingVector(
        multiFrameIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual double getWeight( size_t index ) const
  {
    return getWeight(
        multiFrameIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual translation_t getCamOffset( size_t index ) const
  { return getMultiCamOffset( multiFrameIndex(index) ); }
  virtual rotation_t getCamRotation( size_t index ) const
  { return getMultiCamRotation( multiFrameIndex(index) ); }
  virtual point_t getPoint( size_t index ) const
  {
    return getPoint(
        multiFrameIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual size_t getNumberCorrespondences() const
  {
    size_t numberCorrespondences = 0;
    for(size_t i = 0; i < getNumberFrames(); i++)
      numberCorrespondences += getNumberCorrespondences(i);
    return numberCorrespondences;
  }
};

}
};

#endif /* OPENGV_ABSOLUTE_POSE_ABSOLUTEMULTIADAPTERBASE_HPP_ */