MANoncentralRelativeMulti.hpp

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

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

namespace opengv
{
namespace relative_pose
{

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

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  MANoncentralRelativeMulti(
      const std::vector<double*> & bearingVectors1,
      const std::vector<double*> & bearingVectors2,
      const double * camOffsets,
      const std::vector<int> & numberBearingVectors );
  virtual ~MANoncentralRelativeMulti();

  //camera-pair-wise access of correspondences
  
  virtual bearingVector_t getBearingVector1(
      size_t pairIndex, size_t correspondenceIndex ) const;
  virtual bearingVector_t getBearingVector2(
      size_t pairIndex, size_t correspondenceIndex ) const;
  virtual double getWeight( size_t camIndex, size_t correspondenceIndex ) const;
  virtual translation_t getCamOffset( size_t pairIndex ) const;
  virtual rotation_t getCamRotation( size_t pairIndex ) const;
  virtual size_t getNumberCorrespondences( size_t pairIndex ) const;
  virtual size_t getNumberPairs() const;

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

protected:
  std::vector<double *> _bearingVectors1;
  
  std::vector<double *> _bearingVectors2;

  const double * _camOffsets;

  std::vector<int> _numberBearingVectors;
  
  std::vector<int> multiPairIndices;
  std::vector<int> multiKeypointIndices;
  std::vector<int> singleIndexOffsets;
};

}
}

#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVEMULTI_HPP_ */