text: /******************************************************************************
   * Author:   Laurent Kneip                                                    *
   * Contact:  kneip.laurent@gmail.com                                          *
   * License:  Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved.      *
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  /**
   * \file MACentralAbsolute.hpp
   * \brief Adapter-class for passing bearing-vector-to-point correspondences to
   *        the central absolute-pose algorithms. It maps matlab types
   *        back to opengv types.
   */
  
  #ifndef OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
  #define OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_
  
  #include <stdlib.h>
  #include <vector>
  #include <opengv/types.hpp>
  #include <opengv/absolute_pose/AbsoluteAdapterBase.hpp>
  
  /**
   * \brief The namespace of this library.
   */
  namespace opengv
  {
  /**
   * \brief The namespace for the absolute pose methods.
   */
  namespace absolute_pose
  {
  
  /**
   * Check the documentation of the parent-class to understand the meaning of
   * an AbsoluteAdapter. This child-class is for the central case and holds data
   * in form of pointers to matlab data.
   */
  class MACentralAbsolute : public AbsoluteAdapterBase
  {
  protected:
    using AbsoluteAdapterBase::_t;
    using AbsoluteAdapterBase::_R;
  
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  
    /**
     * \brief Constructor. See protected class-members to understand parameters
     */
    MACentralAbsolute(
        const double * points,
        const double * bearingVectors,
        int numberPoints,
        int numberBearingVectors );
    /**
    * \brief Constructor. See protected class-members to understand parameters
    */
    // edited by Steffen Urban / urbste@gmail.com
    MACentralAbsolute(
  	  const double * points,
  	  const double * bearingVectors,
  	  const double * covMats,
  	  int numberPoints,
  	  int numberBearingVectors,
  	  int numberCovMats);
  
    /**
     * Destructor
     */
    virtual ~MACentralAbsolute();
  
    //Access of correspondences
    
    /** See parent-class */
    virtual opengv::bearingVector_t getBearingVector( size_t index ) const;
    /** See parent-class */
    virtual opengv::bearingVectors_t getBearingVectors() const;
    /** See parent-class */
    virtual opengv::cov3_mat_t getCovariance(size_t index) const;
    /** See parent-class */
    virtual opengv::cov3_mats_t getCovariances() const;
    /** See parent-class */
    virtual double getWeight( size_t index ) const;
    /** See parent-class. Returns zero for this adapter. */
    virtual opengv::translation_t getCamOffset( size_t index ) const;
    /** See parent-class Returns identity for this adapter. */
    virtual opengv::rotation_t getCamRotation( size_t index ) const;
    /** See parent-class */
    virtual opengv::point_t getPoint( size_t index ) const;
    /** See parent-class */
    virtual opengv::points_t getPoints() const;
    /** See parent-class */
    virtual size_t getNumberCorrespondences() const;
  
  protected:
  
    /** A pointer to the point data */
    const double * _points;
    /** A pointer to the bearing-vectors */
    const double * _bearingVectors;
    /** A pointer to the covariance-vectors */
    const double * _covMats;
    /** The number of points */
    int _numberPoints;
    /** The number of bearing vectors */
    int _numberBearingVectors;
    /** The number of covariance matrices */
    int _numberCovMats;
  };
  
  }
  }
  
  #endif /* OPENGV_ABSOLUTE_POSE_MACENTRALABSOLUTE_HPP_ */
  