NoncentralRelativeAdapter.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_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/RelativeAdapterBase.hpp>

namespace opengv
{
namespace relative_pose
{

class NoncentralRelativeAdapter : public RelativeAdapterBase
{
protected:
  using RelativeAdapterBase::_t12;
  using RelativeAdapterBase::_R12;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef std::vector<int> camCorrespondences_t;

  NoncentralRelativeAdapter(
      const bearingVectors_t & bearingVectors1,
      const bearingVectors_t & bearingVectors2,
      const camCorrespondences_t & camCorrespondences1,
      const camCorrespondences_t & camCorrespondences2,
      const translations_t & camOffsets,
      const rotations_t & camRotations );
  NoncentralRelativeAdapter(
      const bearingVectors_t & bearingVectors1,
      const bearingVectors_t & bearingVectors2,
      const camCorrespondences_t & camCorrespondences1,
      const camCorrespondences_t & camCorrespondences2,
      const translations_t & camOffsets,
      const rotations_t & camRotations,
      const rotation_t & R12 );
  NoncentralRelativeAdapter(
      const bearingVectors_t & bearingVectors1,
      const bearingVectors_t & bearingVectors2,
      const camCorrespondences_t & camCorrespondences1,
      const camCorrespondences_t & camCorrespondences2,
      const translations_t & camOffsets,
      const rotations_t & camRotations,
      const translation_t & t12,
      const rotation_t & R12 );
  virtual ~NoncentralRelativeAdapter();

  //Access of correspondences
  
  virtual bearingVector_t getBearingVector1( size_t index ) const;
  virtual bearingVector_t getBearingVector2( size_t index ) const;
  virtual double getWeight( size_t index ) const;
  virtual translation_t getCamOffset1( size_t index ) const;
  virtual rotation_t getCamRotation1( size_t index ) const;
  virtual translation_t getCamOffset2( size_t index ) const;
  virtual rotation_t getCamRotation2( size_t index ) const;
  virtual size_t getNumberCorrespondences() const;

protected:
  const bearingVectors_t & _bearingVectors1;
  const bearingVectors_t & _bearingVectors2;
  const camCorrespondences_t & _camCorrespondences1;
  const camCorrespondences_t & _camCorrespondences2;

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

}
}

#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_ */