NoncentralAbsoluteAdapter.hpp

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/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
 * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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#ifndef OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_
#define OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_

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

namespace opengv
{
namespace absolute_pose
{

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

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef std::vector<int> camCorrespondences_t;

  NoncentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const camCorrespondences_t & camCorrespondences,
      const points_t & points,
      const translations_t & camOffsets,
      const rotations_t & camRotations );
  NoncentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const camCorrespondences_t & camCorrespondences,
      const points_t & points,
      const translations_t & camOffsets,
      const rotations_t & camRotations,
      const rotation_t & R );
  NoncentralAbsoluteAdapter(
      const bearingVectors_t & bearingVectors,
      const camCorrespondences_t & camCorrespondences,
      const points_t & points,
      const translations_t & camOffsets,
      const rotations_t & camRotations,
      const translation_t & t,
      const rotation_t & R );
  virtual ~NoncentralAbsoluteAdapter();

  //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 bearingVectors_t & _bearingVectors;
  const camCorrespondences_t & _camCorrespondences;
  const points_t & _points;

  const translations_t & _camOffsets;
  const rotations_t & _camRotations;
};

}
};

#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */