110 lines
4.0 KiB
C++
110 lines
4.0 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 Indices.hpp
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* \brief Generic functor base for use with the Eigen-nonlinear optimization
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* toolbox.
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*/
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#ifndef OPENGV_INDICES_HPP_
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#define OPENGV_INDICES_HPP_
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#include <stdlib.h>
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#include <Eigen/Eigen>
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#include <Eigen/src/Core/util/DisableStupidWarnings.h>
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using namespace std;
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using namespace Eigen;
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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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* Index class used internally so we can efficiently access either all or
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* just a subset of the indices, using the same syntax
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*/
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struct Indices
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{
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/** Indexing into vector of indices? */
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bool _useIndices;
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/** Pointer to a vector of indices (if used) */
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const std::vector<int> * _indices;
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/** The number of correspondences */
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size_t _numberCorrespondences;
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/**
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* \brief Constructor using index-vector.
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* \param[in] indices The index-vector.
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*/
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Indices( const std::vector<int> & indices) :
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_useIndices(true),
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_indices(&indices),
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_numberCorrespondences(indices.size())
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{}
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/**
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* \brief Constructor without index-vector (uses all correspondences).
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* \param[in] numberCorrespondences The number of correspondences.
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*/
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Indices(size_t numberCorrespondences) :
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_useIndices(false),
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_numberCorrespondences(numberCorrespondences)
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{}
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/**
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* \brief Get the number of correspondences.
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* \return The number of correspondences.
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*/
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size_t size() const
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{
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return _numberCorrespondences;
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}
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/**
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* \brief Get an index.
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* \param[in] i The index.
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* \return The index (either directly or from the index-vector).
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*/
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int operator[](int i) const
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{
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if( _useIndices )
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return (*_indices)[i];
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return i;
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}
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};
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}
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#endif /* OPENGV_INDICES_HPP_ */
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