25 #ifndef __GenSynthMatchesRig_hh__
26 #define __GenSynthMatchesRig_hh__
28 #include <bias_config.h>
30 #include <Base/Common/BIASpragmaStart.hh>
36 #include <Base/Image/Image.hh>
37 #include <Base/Geometry/HomgPoint2D.hh>
38 #include <Base/Geometry/HomgPoint3D.hh>
39 #include <Base/Geometry/KMatrix.hh>
40 #include <Base/Geometry/FMatrixBase.hh>
41 #include <Base/Geometry/EuclideanTransf3D.hh>
42 #include <Base/Geometry/RMatrixBase.hh>
43 #include <Base/Geometry/PMatrixBase.hh>
44 #include <Utils/Param.hh>
45 #include <Base/Math/Random.hh>
46 #include "MatchDataBase.hh"
47 #include "GenSynthMatches.hh"
48 #include <Base/Math/Vector3.hh>
49 #include <Geometry/RMatrix.hh>
53 #define GENSYNTHMATCHESRIG_MAX_NR_OF_CAMERAS 8
59 struct VecOMapOStrDbl {
61 VecOMapOStrDbl(std::vector<std::map<std::string, double> > tmp) {
64 std::vector<std::map<std::string, double> > vecOMaps;
88 int maxindex=1)
const;
91 int maxindex,
int camIndex)
const;
94 int maxindex=1)
const;
97 int maxindex,
int camIndex)
const;
103 int Write(std::string file)
const;
105 int Read(std::string file);
108 inline std::vector<BIAS::GenSynthMatches>
GetCams()
const {
112 friend BIASUtils_EXPORT std::ostream&
115 friend BIASUtils_EXPORT std::istream&
143 void UpdateParams_(
int camID);
148 void GetParameters_();
150 void AddParameters_(
Param ¶);
152 void PrintCamPoses_();
156 BIASUtils_EXPORT std::ostream&
162 #include <Base/Common/BIASpragmaEnd.hh>
std::vector< VecOMapOStrDbl > SlaveCamsGlobal_
BIAS::Vector< double > MasterAnglesY_
BIAS::Vector< double > MasterCenterZ_
class for generating synthetic matches
BIAS::Vector< double > MasterCenterX_
motion vectors read from the param file
Param * allParams_
Pointer to the parameter object.
BIAS::Vector< double > MasterCenterY_
std::vector< GenSynthMatches > CamMatches_
Vector containing the cameras.
BIAS::Vector< double > MasterAnglesZ_
Generates synthetic matches for cameras in a rig.
std::ostream & operator<<(std::ostream &os, const Array2D< T > &arg)
BIAS::Vector< double > MasterAnglesX_
This class Param provides generic support for parameters.
std::vector< std::map< std::string, double > > SlaveCamsRelative_
GenSynthMatches GenMatches_
dummy to initialize the param object
int * NumCameras_
The number of cameras used. Read from the param object.
std::vector< BIAS::GenSynthMatches > GetCams() const
returns the vector of the used GenSynthMatches object
BIASCommon_EXPORT std::istream & operator>>(std::istream &is, BIAS::TimeStamp &ts)
Standard input operator for TimeStamps.