96 lines
2.5 KiB
C++
96 lines
2.5 KiB
C++
/*
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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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