MANoncentralAbsolute.hpp

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

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

namespace opengv
{
namespace absolute_pose
{

class MANoncentralAbsolute : public AbsoluteAdapterBase
{
protected:
  using AbsoluteAdapterBase::_t;
  using AbsoluteAdapterBase::_R;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  MANoncentralAbsolute(
      const double * points,
      const double * bearingVectors,
      int numberPoints,
      int numberBearingVectors );
      
  virtual ~MANoncentralAbsolute();

  //Access of correspondences
  
  virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
  virtual double getWeight( size_t index ) const;
  virtual opengv::translation_t getCamOffset( size_t index ) const;
  virtual opengv::rotation_t getCamRotation( size_t index ) const;
  virtual opengv::point_t getPoint( size_t index ) const;
  virtual size_t getNumberCorrespondences() const;

protected:

  const double * _points;
  const double * _bearingVectors;
  int _numberPoints;
  int _numberBearingVectors;
};

}
}

#endif /* OPENGV_ABSOLUTE_POSE_MANONCENTRALABSOLUTE_HPP_ */