RelativeMultiAdapterBase.hpp

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

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

namespace opengv
{
namespace relative_pose
{

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

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
  RelativeMultiAdapterBase() :
      RelativeAdapterBase() {};
  RelativeMultiAdapterBase( const rotation_t & R12 ) :
      RelativeAdapterBase( R12 ) {};
  RelativeMultiAdapterBase( const translation_t & t12, const rotation_t & R12 ) :
      RelativeAdapterBase( t12, R12 ) {};
  virtual ~RelativeMultiAdapterBase() {};
  
  //camera-pair-wise access of correspondences
  
  virtual bearingVector_t getBearingVector1(
      size_t pairIndex, size_t correspondenceIndex ) const = 0;
  virtual bearingVector_t getBearingVector2(
      size_t pairIndex, size_t correspondenceIndex ) const = 0;
  virtual double getWeight(
      size_t pairIndex, size_t correspondenceIndex ) const = 0;
  virtual translation_t getCamOffset( size_t pairIndex ) const = 0;
  virtual rotation_t getCamRotation( size_t pairIndex ) const = 0;
  virtual size_t getNumberCorrespondences( size_t pairIndex ) const = 0;
  virtual size_t getNumberPairs() const = 0;

  //Conversion to and from serialized indices
  
  virtual std::vector<int> convertMultiIndices(
      const std::vector<std::vector<int> > & multiIndices ) const = 0;
  virtual int convertMultiIndex(
      size_t pairIndex, size_t correspondenceIndex ) const = 0;
  virtual int multiPairIndex( size_t index ) const = 0;
  virtual int multiCorrespondenceIndex( size_t index ) const = 0;

  //the classic interface (with serialized indices, used by the opengv-methods)
  
  virtual bearingVector_t getBearingVector1( size_t index ) const
  {
    return getBearingVector1(
        multiPairIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual bearingVector_t getBearingVector2( size_t index ) const
  {
    return getBearingVector2(
        multiPairIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual double getWeight( size_t index ) const
  {
    return getWeight(
        multiPairIndex(index), multiCorrespondenceIndex(index) );
  }
  virtual translation_t getCamOffset1( size_t index ) const
  { return getCamOffset( multiPairIndex(index) ); }
  virtual rotation_t getCamRotation1( size_t index ) const
  { return getCamRotation( multiPairIndex(index) ); }
  virtual translation_t getCamOffset2( size_t index ) const
  { return getCamOffset( multiPairIndex(index) ); }
  virtual rotation_t getCamRotation2( size_t index ) const
  { return getCamRotation( multiPairIndex(index) ); }
  virtual size_t getNumberCorrespondences() const
  {
    size_t numberCorrespondences = 0;
    for(size_t i = 0; i < getNumberPairs(); i++)
      numberCorrespondences += getNumberCorrespondences(i);
    return numberCorrespondences;
  }
};

}
}

#endif /* OPENGV_RELATIVE_POSE_RELATIVEMULTIADAPTERBASE_HPP_ */