FrameNoncentralAbsoluteAdapter.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Mar 6, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_OPENGV_FRAMENONCENTRALABSOLUTEADAPTER_HPP_
#define INCLUDE_OKVIS_OPENGV_FRAMENONCENTRALABSOLUTEADAPTER_HPP_

#include <stdlib.h>
#include <vector>
#include <memory>
#include <opengv/types.hpp>
#include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/FrameTypedefs.hpp>
#include <okvis/Estimator.hpp>
#include <okvis/cameras/NCameraSystem.hpp>

namespace opengv {
namespace absolute_pose {

class FrameNoncentralAbsoluteAdapter : public AbsoluteAdapterBase {
 private:
  using AbsoluteAdapterBase::_t;
  using AbsoluteAdapterBase::_R;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  typedef std::vector<int> matches_t;

  FrameNoncentralAbsoluteAdapter(
      const okvis::Estimator & estimator,
      const okvis::cameras::NCameraSystem & nCameraSystem,
      std::shared_ptr<okvis::MultiFrame> frame);

  virtual ~FrameNoncentralAbsoluteAdapter() {
  }


  virtual opengv::bearingVector_t getBearingVector(size_t index) const;

  virtual opengv::translation_t getCamOffset(size_t index) const;

  virtual opengv::rotation_t getCamRotation(size_t index) const;

  virtual opengv::point_t getPoint(size_t index) const;

  virtual size_t getNumberCorrespondences() const;


  // lestefan: some additional accessors
  int camIndex(size_t index) const {return camIndices_.at(index);}

  int keypointIndex(size_t index) const {return keypointIndices_.at(index);}

  virtual double getWeight(size_t) const {
    return 1.0;
  }  // TODO : figure out if needed...

  // custom:
  double getSigmaAngle(size_t index);

 private:
  opengv::bearingVectors_t bearingVectors_;

  opengv::points_t points_;

  std::vector<size_t> camIndices_;

  std::vector<size_t> keypointIndices_;

  opengv::translations_t camOffsets_;

  opengv::rotations_t camRotations_;

  std::vector<double> sigmaAngles_;

};

}
}

#endif /* INCLUDE_OKVIS_OPENGV_FRAMENONCENTRALABSOLUTEADAPTER_HPP_ */