/******************************************************************************
 * Author:   Laurent Kneip                                                    *
 * Contact:  kneip.laurent@gmail.com                                          *
 * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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 *   specific prior written permission.                                       *
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/**
 * \file MANoncentralRelative.hpp
 * \brief Adapter-class for passing bearing-vector correspondences to the
 *        non-central relative-pose algorithms. Maps matlab types
 *        to opengv types.
 */

#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>

/**
 * \brief The namespace of this library.
 */
namespace opengv
{
/**
 * \brief The namespace for the relative pose methods.
 */
namespace relative_pose
{

/**
 * Check the documentation of the parent-class to understand the meaning of
 * a RelativeAdapter. This child-class is for the non-central case and holds
 * data in form of pointers to matlab-types.
 */
class MANoncentralRelative : public RelativeAdapterBase
{
protected:
  using RelativeAdapterBase::_t12;
  using RelativeAdapterBase::_R12;

public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  /**
   * \brief Constructor. See protected class-members to understand parameters
   */
  MANoncentralRelative(
      const double * bearingVectors1,
      const double * bearingVectors2,
      int numberBearingVectors1,
      int numberBearingVectors2 );

  /**
   * \brief Destructor.
   */
  virtual ~MANoncentralRelative();

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

protected:
  /** A pointer to the bearing-vectors in viewpoint 1 */  
  const double * _bearingVectors1;
  /** A pointer to the bearing-vectors in viewpoint 2 */
  const double * _bearingVectors2;
  /** The number of bearing-vectors in viewpoint 1 */
  int _numberBearingVectors1;
  /** The number of bearing-vectors in viewpoint 2 */
  int _numberBearingVectors2;
};

}
}

#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_ */
