v01

thirdparty/opengv/test/random_generators.hpp

@@ -0,0 +1,52 @@
+/******************************************************************************
+ * 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_ */