56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
/*
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* Platform.cpp
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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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#include "Common.h"
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#include "Platform.h"
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using namespace MVS;
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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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// return the normalized absolute camera pose
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Platform::Camera Platform::GetCamera(uint32_t cameraID, uint32_t poseID) const
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{
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const Camera& camera = cameras[cameraID];
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const Pose& pose = poses[poseID];
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// add the relative camera pose to the platform
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Camera cam;
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cam.K = camera.K;
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cam.R = camera.R*pose.R;
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cam.C = pose.R.t()*camera.C+pose.C;
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return cam;
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} // GetCamera
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/*----------------------------------------------------------------*/
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