MANoncentralRelative.hpp

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

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

namespace opengv
{
namespace relative_pose
{

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

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  MANoncentralRelative(
      const double * bearingVectors1,
      const double * bearingVectors2,
      int numberBearingVectors1,
      int numberBearingVectors2 );

  virtual ~MANoncentralRelative();

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

protected:
  const double * _bearingVectors1;
  const double * _bearingVectors2;
  int _numberBearingVectors1;
  int _numberBearingVectors2;
};

}
}

#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_ */