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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
* *
* Redistribution and use in source and binary forms, with or without *
* modification, are permitted provided that the following conditions *
* are met: *
* * Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* * Redistributions in binary form must reproduce the above copyright *
* notice, this list of conditions and the following disclaimer in the *
* documentation and/or other materials provided with the distribution. *
* * Neither the name of ANU nor the names of its contributors may be *
* used to endorse or promote products derived from this software without *
* specific prior written permission. *
* *
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
* SUCH DAMAGE. *
******************************************************************************/
#ifndef OPENGV_EXPERIMENT_HELPERS_HPP_
#define OPENGV_EXPERIMENT_HELPERS_HPP_
#include <opengv/types.hpp>
#include <memory>
namespace opengv
{
void generateCentralCameraSystem(
translations_t & camOffsets,
rotations_t & camRotations );
void generateRandomCameraSystem(
int numberCameras,
translations_t & camOffsets,
rotations_t & camRotations );
void extractRelativePose(
const translation_t & position1,
const translation_t & position2,
const rotation_t & rotation1,
const rotation_t & rotation2,
translation_t & relativePosition,
rotation_t & relativeRotation,
bool normalize = true );
void printExperimentCharacteristics(
const translation_t & position,
const rotation_t & rotation,
double noise,
double outlierFraction );
void printBearingVectorArraysMatlab(
const bearingVectors_t & bearingVectors1,
const bearingVectors_t & bearingVectors2 );
void printEssentialMatrix(
const translation_t & position,
const rotation_t & rotation);
void getPerturbedPose(
const translation_t & position,
const rotation_t & rotation,
translation_t & perturbedPosition,
rotation_t & perturbedRotation,
double amplitude );
std::vector<int> getNindices( int n );
void generateRandom2D3DCorrespondences(
const translation_t & position,
const rotation_t & rotation,
const translations_t & camOffsets,
const rotations_t & camRotations,
size_t numberPoints,
double noise,
double outlierFraction,
bearingVectors_t & bearingVectors,
points_t & points,
std::vector<int> & camCorrespondences,
Eigen::MatrixXd & gt );
void generateMulti2D3DCorrespondences(
const translation_t & position,
const rotation_t & rotation,
const translations_t & camOffsets,
const rotations_t & camRotations,
size_t pointsPerCam,
double noise,
double outlierFraction,
std::vector<std::shared_ptr<points_t> > & multiPoints,
std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors,
std::vector<std::shared_ptr<Eigen::MatrixXd> > & gt );
void generateRandom2D2DCorrespondences(
const translation_t & position1,
const rotation_t & rotation1,
const translation_t & position2,
const rotation_t & rotation2,
const translations_t & camOffsets,
const rotations_t & camRotations,
size_t numberPoints,
double noise,
double outlierFraction,
bearingVectors_t & bearingVectors1,
bearingVectors_t & bearingVectors2,
std::vector<int> & camCorrespondences1,
std::vector<int> & camCorrespondences2,
Eigen::MatrixXd & gt );
void generateRandom3D3DCorrespondences(
const translation_t & position1,
const rotation_t & rotation1,
const translation_t & position2,
const rotation_t & rotation2,
size_t numberPoints,
double noise,
double outlierFraction,
bearingVectors_t & points1,
bearingVectors_t & points2,
Eigen::MatrixXd & gt );
void generateMulti2D2DCorrespondences(
const translation_t & position1,
const rotation_t & rotation1,
const translation_t & position2,
const rotation_t & rotation2,
const translations_t & camOffsets,
const rotations_t & camRotations,
size_t pointsPerCam,
double noise,
double outlierFraction,
std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors1,
std::vector<std::shared_ptr<bearingVectors_t> > & multiBearingVectors2,
std::vector<std::shared_ptr<Eigen::MatrixXd> > & gt );
}
#endif /* OPENGV_EXPERIMENT_HELPERS_HPP_ */
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