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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_RANDOM_GENERATORS_HPP_
#define OPENGV_RANDOM_GENERATORS_HPP_
#include <stdlib.h>
#include <vector>
#include <Eigen/Eigen>
namespace opengv
{
void initializeRandomSeed();
Eigen::Vector3d generateRandomPoint( double maximumDepth, double minimumDepth );
Eigen::Vector3d generateRandomPointPlane();
Eigen::Vector3d addNoise( double noiseLevel, Eigen::Vector3d cleanPoint );
Eigen::Vector3d generateRandomTranslation( double maximumParallax );
Eigen::Vector3d generateRandomDirectionTranslation( double parallax );
Eigen::Matrix3d generateRandomRotation( double maxAngle );
Eigen::Matrix3d generateRandomRotation();
}
#endif /* OPENGV_RANDOM_GENERATORS_HPP_ */
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