PointCloudAdapterBase.hpp

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

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

namespace opengv
{
namespace point_cloud
{

class PointCloudAdapterBase
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  PointCloudAdapterBase( ) :
      _t12(Eigen::Vector3d::Zero()),
      _R12(Eigen::Matrix3d::Identity()) {};
  PointCloudAdapterBase( const rotation_t & R12 ) :
      _t12(Eigen::Vector3d::Zero()),
      _R12(R12) {};
  PointCloudAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
      _t12(t12),
      _R12(R12) {};
  virtual ~PointCloudAdapterBase() {};

  //Access of correspondences
  
  virtual opengv::point_t getPoint1( size_t index ) const = 0;
  virtual opengv::point_t getPoint2( size_t index ) const = 0;
  virtual size_t getNumberCorrespondences() const = 0;
  virtual double getWeight( size_t index ) const = 0;

  //Access of priors or known values
  
  virtual opengv::translation_t gett12() const { return _t12; };
  virtual void sett12(const translation_t & t12) { _t12 = t12; };
  virtual opengv::rotation_t getR12() const { return _R12; };
  virtual void setR12(const rotation_t & R12) { _R12 = R12; };

public:
  translation_t _t12;
  rotation_t _R12;

};

}
}

#endif /* OPENGV_POINTCLOUDADAPTERBASE_HPP_ */