PointCloudAdapter.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_POINTCLOUDADAPTER_HPP_
#define OPENGV_POINTCLOUDADAPTER_HPP_

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

namespace opengv
{
namespace point_cloud
{

class PointCloudAdapter : public PointCloudAdapterBase
{
private:
  using PointCloudAdapterBase::_t12;
  using PointCloudAdapterBase::_R12;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  PointCloudAdapter(
      const points_t & points1,
      const points_t & points2 );
  PointCloudAdapter(
      const points_t & points1,
      const points_t & points2,
      const rotation_t & R12 );
  PointCloudAdapter(
      const points_t & points1,
      const points_t & points2,
      const translation_t & t12,
      const rotation_t & R12 );
  virtual ~PointCloudAdapter();

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

private:
  const points_t & _points1;
  const points_t & _points2;
};

}
}

#endif /* OPENGV_POINTCLOUDADAPTER_HPP_ */