FrameRelativeAdapter.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 7, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_OPENGV_FRAMERELATIVEADAPTER_HPP_
#define INCLUDE_OKVIS_OPENGV_FRAMERELATIVEADAPTER_HPP_

#include <stdlib.h>
#include <vector>
#include <opengv/types.hpp>
#include <opengv/relative_pose/CentralRelativeAdapter.hpp>
#include <okvis/Estimator.hpp>
#include <okvis/cameras/NCameraSystem.hpp>
#include <okvis/assert_macros.hpp>

namespace opengv {
namespace relative_pose {

class FrameRelativeAdapter : public RelativeAdapterBase {
 private:
  using RelativeAdapterBase::_t12;
  using RelativeAdapterBase::_R12;

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

  
  FrameRelativeAdapter(const okvis::Estimator & estimator,
                       const okvis::cameras::NCameraSystem & nCameraSystem,
                       uint64_t multiFrameIdA, size_t camIdA,
                       uint64_t multiFrameIdB, size_t camIdB);

  virtual ~FrameRelativeAdapter() {
  }


  virtual opengv::bearingVector_t getBearingVector1(size_t index) const;
  virtual opengv::bearingVector_t getBearingVector2(size_t index) const;
  virtual opengv::translation_t getCamOffset1(size_t index) const;
  virtual opengv::rotation_t getCamRotation1(size_t index) const;
  virtual opengv::translation_t getCamOffset2(size_t index) const;
  virtual opengv::rotation_t getCamRotation2(size_t index) const;
  virtual size_t getNumberCorrespondences() const;


  // custom:
  double getSigmaAngle1(size_t index);
  double getSigmaAngle2(size_t index);
  size_t getMatchKeypointIdxA(size_t index) {
    return matches_.at(index).idxA;
  }
  size_t getMatchKeypointIdxB(size_t index) {
    return matches_.at(index).idxB;
  }
  virtual double getWeight(size_t) const {
    return 1.0;
  }  // TODO : figure out, if this is needed

 private:
  opengv::bearingVectors_t bearingVectors1_;
  opengv::bearingVectors_t bearingVectors2_;
  okvis::Matches matches_;

  // also store individual uncertainties
  std::vector<double> sigmaAngles1_;
  std::vector<double> sigmaAngles2_;

};

}
}

#endif /* INCLUDE_OKVIS_OPENGV_FRAMERELATIVEADAPTER_HPP_ */