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95 lines
2.5 KiB
95 lines
2.5 KiB
/* |
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* Platform.h |
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* |
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* Copyright (c) 2014-2015 SEACAVE |
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* |
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* Author(s): |
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* |
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* cDc <cdc.seacave@gmail.com> |
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* |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Affero General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Affero General Public License for more details. |
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* |
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* You should have received a copy of the GNU Affero General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* |
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* Additional Terms: |
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* |
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* You are required to preserve legal notices and author attributions in |
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* that material or in the Appropriate Legal Notices displayed by works |
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* containing it. |
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*/ |
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#ifndef _MVS_PLATFORM_H_ |
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#define _MVS_PLATFORM_H_ |
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// I N C L U D E S ///////////////////////////////////////////////// |
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#include "Camera.h" |
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// D E F I N E S /////////////////////////////////////////////////// |
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// S T R U C T S /////////////////////////////////////////////////// |
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namespace MVS { |
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// a mobile platform with cameras attached to it |
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class MVS_API Platform |
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{ |
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public: |
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// structure describing a normalized camera mounted on a platform |
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typedef CameraIntern Camera; |
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typedef CLISTDEF0IDX(Camera,uint32_t) CameraArr; |
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// structure describing a pose along the trajectory of a platform |
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struct Pose { |
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RMatrix R; // platform's rotation matrix |
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CMatrix C; // platform's translation vector in the global coordinate system |
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#ifdef _USE_BOOST |
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template <class Archive> |
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void serialize(Archive& ar, const unsigned int /*version*/) { |
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ar & R; |
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ar & C; |
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} |
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#endif |
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}; |
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typedef CLISTDEF0IDX(Pose,uint32_t) PoseArr; |
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public: |
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String name; // platform's name |
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CameraArr cameras; // cameras mounted on the platform |
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PoseArr poses; // trajectory of the platform |
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public: |
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inline Platform() {} |
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Camera GetCamera(uint32_t cameraID, uint32_t poseID) const; |
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#ifdef _USE_BOOST |
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// implement BOOST serialization |
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template <class Archive> |
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void serialize(Archive& ar, const unsigned int /*version*/) { |
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ar & name; |
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ar & cameras; |
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ar & poses; |
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} |
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#endif |
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}; |
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typedef MVS_API CLISTDEFIDX(Platform,uint32_t) PlatformArr; |
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/*----------------------------------------------------------------*/ |
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} // namespace MVS |
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#endif // _MVS_PLATFORM_H_
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