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libs/MVS/Platform.cpp

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+/*
+* Platform.cpp
+*
+* Copyright (c) 2014-2015 SEACAVE
+*
+* Author(s):
+*
+*      cDc <cdc.seacave@gmail.com>
+*
+*
+* This program is free software: you can redistribute it and/or modify
+* it under the terms of the GNU Affero General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* This program is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU Affero General Public License for more details.
+*
+* You should have received a copy of the GNU Affero General Public License
+* along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*
+*
+* Additional Terms:
+*
+*      You are required to preserve legal notices and author attributions in
+*      that material or in the Appropriate Legal Notices displayed by works
+*      containing it.
+*/
+
+#include "Common.h"
+#include "Platform.h"
+
+using namespace MVS;
+
+
+// D E F I N E S ///////////////////////////////////////////////////
+
+
+// S T R U C T S ///////////////////////////////////////////////////
+
+// return the normalized absolute camera pose
+Platform::Camera Platform::GetCamera(uint32_t cameraID, uint32_t poseID) const
+{
+	const Camera& camera = cameras[cameraID];
+	const Pose& pose = poses[poseID];
+	// add the relative camera pose to the platform
+	Camera cam;
+	cam.K = camera.K;
+	cam.R = camera.R*pose.R;
+	cam.C = pose.R.t()*camera.C+pose.C;
+	return cam;
+} // GetCamera
+/*----------------------------------------------------------------*/