NoncentralAbsoluteMultiAdapter.hpp

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

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

namespace opengv
{
namespace absolute_pose
{

class NoncentralAbsoluteMultiAdapter : public AbsoluteMultiAdapterBase
{
protected:
  using AbsoluteMultiAdapterBase::_t;
  using AbsoluteMultiAdapterBase::_R;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  NoncentralAbsoluteMultiAdapter(
      std::vector<std::shared_ptr<bearingVectors_t> > bearingVectors,
      std::vector<std::shared_ptr<points_t> > points,
      const translations_t & camOffsets,
      const rotations_t & camRotations );
  virtual ~NoncentralAbsoluteMultiAdapter();

  //camera-wise access of correspondences

  virtual point_t getPoint(
      size_t frameIndex, size_t correspondenceIndex ) const;
  virtual bearingVector_t getBearingVector(
      size_t frameIndex, size_t correspondenceIndex ) const;
  virtual double getWeight( size_t frameIndex, size_t correspondenceIndex ) const;
  virtual translation_t getMultiCamOffset( size_t frameIndex ) const;
  virtual rotation_t getMultiCamRotation( size_t frameIndex ) const;
  virtual size_t getNumberCorrespondences( size_t frameIndex ) const;
  virtual size_t getNumberFrames() const;

  //Conversion to and from serialized indices

  virtual std::vector<int> convertMultiIndices(
      const std::vector<std::vector<int> > & multiIndices ) const;
  virtual int convertMultiIndex(
      size_t frameIndex, size_t correspondenceIndex ) const;
  virtual int multiFrameIndex( size_t index ) const;
  virtual int multiCorrespondenceIndex( size_t index ) const;

protected:
  std::vector<std::shared_ptr<bearingVectors_t> > _bearingVectors;
  std::vector<std::shared_ptr<points_t> > _points;

  const translations_t & _camOffsets;
  const rotations_t & _camRotations;

  std::vector<int> multiFrameIndices;
  std::vector<int> multiKeypointIndices;
  std::vector<int> singleIndexOffsets;
};

}
};

#endif /* OPENGV_ABSOLUTE_POSE_NONCENTRALABSOLUTEADAPTER_HPP_ */