RelativeAdapterBase.hpp

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

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

namespace opengv
{
namespace relative_pose
{

class RelativeAdapterBase
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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

  //Access of correspondences
  
  virtual opengv::bearingVector_t getBearingVector1( size_t index ) const = 0;
  virtual opengv::bearingVector_t getBearingVector2( size_t index ) const = 0;
  virtual double getWeight( size_t index ) const = 0;
  virtual opengv::translation_t getCamOffset1( size_t index ) const = 0;
  virtual opengv::rotation_t getCamRotation1( size_t index ) const = 0;
  virtual opengv::translation_t getCamOffset2( size_t index ) const = 0;
  virtual opengv::rotation_t getCamRotation2( size_t index ) const = 0;
  virtual size_t getNumberCorrespondences() const = 0;

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

protected:
  opengv::translation_t _t12;
  opengv::rotation_t _R12;

};

}
}

#endif /* OPENGV_RELATIVE_POSE_RELATIVEADAPTERBASE_HPP_ */