v01

thirdparty/opengv/include/opengv/relative_pose/NoncentralRelativeAdapter.hpp

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+/******************************************************************************
+ * Author:   Laurent Kneip                                                    *
+ * Contact:  kneip.laurent@gmail.com                                          *
+ * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
+ *                                                                            *
+ * Redistribution and use in source and binary forms, with or without         *
+ * modification, are permitted provided that the following conditions         *
+ * are met:                                                                   *
+ * * Redistributions of source code must retain the above copyright           *
+ *   notice, this list of conditions and the following disclaimer.            *
+ * * Redistributions in binary form must reproduce the above copyright        *
+ *   notice, this list of conditions and the following disclaimer in the      *
+ *   documentation and/or other materials provided with the distribution.     *
+ * * Neither the name of ANU nor the names of its contributors may be         *
+ *   used to endorse or promote products derived from this software without   *
+ *   specific prior written permission.                                       *
+ *                                                                            *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE  *
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
+ * ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE        *
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT         *
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY  *
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF     *
+ * SUCH DAMAGE.                                                               *
+ ******************************************************************************/
+
+/**
+ * \file NoncentralRelativeAdapter.hpp
+ * \brief Adapter-class for passing bearing-vector correspondences to the
+ *        non-central relative-pose algorithms. Maps opengv types
+ *        back to opengv types.
+ */
+
+#ifndef OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_
+#define OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_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 references to opengv-types.
+ */
+class NoncentralRelativeAdapter : public RelativeAdapterBase
+{
+protected:
+  using RelativeAdapterBase::_t12;
+  using RelativeAdapterBase::_R12;
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /** A type defined for the camera-correspondences, see protected
+   *  class-members
+   */
+  typedef std::vector<int> camCorrespondences_t;
+
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const rotation_t & R12 );
+  /**
+   * \brief Constructor. See protected class-members to understand parameters
+   */
+  NoncentralRelativeAdapter(
+      const bearingVectors_t & bearingVectors1,
+      const bearingVectors_t & bearingVectors2,
+      const camCorrespondences_t & camCorrespondences1,
+      const camCorrespondences_t & camCorrespondences2,
+      const translations_t & camOffsets,
+      const rotations_t & camRotations,
+      const translation_t & t12,
+      const rotation_t & R12 );
+  /**
+   * \brief Destructor.
+   */
+  virtual ~NoncentralRelativeAdapter();
+
+  //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:
+  /** Reference to bearing-vectors in viewpoint 1.
+   *  (expressed in their individual cameras)
+   */
+  const bearingVectors_t & _bearingVectors1;
+  /** Reference to bearing-vectors in viewpoint 2.
+   *  (expressed in their individual cameras)
+   */
+  const bearingVectors_t & _bearingVectors2;
+  /** Reference to an array of camera-indices for the bearing vectors in
+   *  viewpoint 1. Length equals to number of bearing-vectors in viewpoint 1,
+   *  and elements are indices of cameras in the _camOffsets and _camRotations
+   *  arrays.
+   */
+  const camCorrespondences_t & _camCorrespondences1;
+  /** Reference to an array of camera-indices for the bearing vectors in
+   *  viewpoint 2. Length equals to number of bearing-vectors in viewpoint 2,
+   *  and elements are indices of cameras in the _camOffsets and _camRotations
+   *  arrays.
+   */
+  const camCorrespondences_t & _camCorrespondences2;
+
+  /** Reference to positions of the different cameras seen from their
+   *  viewpoint.
+   */
+  const translations_t & _camOffsets;
+  /** Reference to rotations from the different cameras back to their
+   *  viewpoint.
+   */
+  const rotations_t & _camRotations;
+};
+
+}
+}
+
+#endif /* OPENGV_RELATIVE_POSE_NONCENTRALRELATIVEADAPTER_HPP_ */