53 lines
2.9 KiB
C++
53 lines
2.9 KiB
C++
/******************************************************************************
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* Author: Laurent Kneip *
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* Contact: kneip.laurent@gmail.com *
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* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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* *
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* Redistribution and use in source and binary forms, with or without *
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* modification, are permitted provided that the following conditions *
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* are met: *
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* * Redistributions of source code must retain the above copyright *
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* notice, this list of conditions and the following disclaimer. *
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* * Redistributions in binary form must reproduce the above copyright *
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* notice, this list of conditions and the following disclaimer in the *
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* documentation and/or other materials provided with the distribution. *
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* * Neither the name of ANU nor the names of its contributors may be *
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* used to endorse or promote products derived from this software without *
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* specific prior written permission. *
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* *
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"*
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE *
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
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* ARE DISCLAIMED. IN NO EVENT SHALL ANU OR THE CONTRIBUTORS BE LIABLE *
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL *
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR *
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER *
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT *
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY *
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF *
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* SUCH DAMAGE. *
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******************************************************************************/
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#ifndef OPENGV_RANDOM_GENERATORS_HPP_
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#define OPENGV_RANDOM_GENERATORS_HPP_
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#include <stdlib.h>
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#include <vector>
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#include <Eigen/Eigen>
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namespace opengv
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{
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void initializeRandomSeed();
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Eigen::Vector3d generateRandomPoint( double maximumDepth, double minimumDepth );
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Eigen::Vector3d generateRandomPointPlane();
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Eigen::Vector3d addNoise( double noiseLevel, Eigen::Vector3d cleanPoint );
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Eigen::Vector3d generateRandomTranslation( double maximumParallax );
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Eigen::Vector3d generateRandomDirectionTranslation( double parallax );
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Eigen::Matrix3d generateRandomRotation( double maxAngle );
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Eigen::Matrix3d generateRandomRotation();
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}
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#endif /* OPENGV_RANDOM_GENERATORS_HPP_ */
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