119 lines
4.7 KiB
C++
119 lines
4.7 KiB
C++
/******************************************************************************
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* Author: Laurent Kneip *
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* Contact: kneip.laurent@gmail.com *
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* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions *
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* are met: *
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* * Redistributions of source code must retain the above copyright *
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* notice, this list of conditions and the following disclaimer. *
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* * Redistributions in binary form must reproduce the above copyright *
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* notice, this list of conditions and the following disclaimer in the *
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* documentation and/or other materials provided with the distribution. *
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* * Neither the name of ANU nor the names of its contributors may be *
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* used to endorse or promote products derived from this software without *
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* specific prior written permission. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
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* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
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* SUCH DAMAGE. *
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******************************************************************************/
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/**
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* \file MANoncentralRelative.hpp
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* \brief Adapter-class for passing bearing-vector correspondences to the
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* non-central relative-pose algorithms. Maps matlab types
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* to opengv types.
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*/
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#ifndef OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
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#define OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_
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#include <stdlib.h>
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#include <vector>
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#include <opengv/types.hpp>
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#include <opengv/relative_pose/RelativeAdapterBase.hpp>
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/**
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* \brief The namespace of this library.
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*/
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namespace opengv
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{
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/**
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* \brief The namespace for the relative pose methods.
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*/
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namespace relative_pose
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{
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/**
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* Check the documentation of the parent-class to understand the meaning of
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* a RelativeAdapter. This child-class is for the non-central case and holds
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* data in form of pointers to matlab-types.
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*/
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class MANoncentralRelative : public RelativeAdapterBase
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{
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protected:
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using RelativeAdapterBase::_t12;
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using RelativeAdapterBase::_R12;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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/**
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* \brief Constructor. See protected class-members to understand parameters
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*/
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MANoncentralRelative(
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const double * bearingVectors1,
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const double * bearingVectors2,
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int numberBearingVectors1,
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int numberBearingVectors2 );
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/**
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* \brief Destructor.
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*/
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virtual ~MANoncentralRelative();
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//Access of correspondences
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/** See parent-class */
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virtual bearingVector_t getBearingVector1( size_t index ) const;
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/** See parent-class */
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virtual bearingVector_t getBearingVector2( size_t index ) const;
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/** See parent-class */
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virtual double getWeight( size_t index ) const;
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/** See parent-class */
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virtual translation_t getCamOffset1( size_t index ) const;
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/** See parent-class */
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virtual rotation_t getCamRotation1( size_t index ) const;
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/** See parent-class */
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virtual translation_t getCamOffset2( size_t index ) const;
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/** See parent-class */
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virtual rotation_t getCamRotation2( size_t index ) const;
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/** See parent-class */
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virtual size_t getNumberCorrespondences() const;
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protected:
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/** A pointer to the bearing-vectors in viewpoint 1 */
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const double * _bearingVectors1;
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/** A pointer to the bearing-vectors in viewpoint 2 */
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const double * _bearingVectors2;
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/** The number of bearing-vectors in viewpoint 1 */
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int _numberBearingVectors1;
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/** The number of bearing-vectors in viewpoint 2 */
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int _numberBearingVectors2;
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};
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}
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}
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#endif /* OPENGV_RELATIVE_POSE_MANONCENTRALRELATIVE_HPP_ */
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