84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/*
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* projectiveGeometry.cpp
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* @brief Projective geometry, implemented using tensor library
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* Created on: Feb 12, 2010
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* @author: Frank Dellaert
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*/
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#include <boost/foreach.hpp>
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#include <boost/numeric/ublas/matrix.hpp>
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#include <boost/numeric/ublas/matrix_proxy.hpp>
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#include <gtsam/base/Matrix.h>
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typedef boost::numeric::ublas::matrix_row<Matrix> Row;
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#include <gtsam/geometry/tensorInterface.h>
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#include <gtsam/geometry/projectiveGeometry.h>
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namespace gtsam {
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using namespace std;
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using namespace tensors;
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static Eta3 eta;
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static Index<3, 'a'> a, _a;
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static Index<3, 'b'> b, _b;
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static Index<3, 'c'> c, _c;
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static Index<3, 'd'> d, _d;
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static Index<3, 'd'> e, _e;
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static Index<3, 'f'> f, _f;
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static Index<3, 'g'> g, _g;
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/* ************************************************************************* */
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Point2h point2h(double x, double y, double w) {
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double data[3];
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data[0] = x;
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data[1] = y;
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data[2] = w;
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return data;
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}
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/* ************************************************************************* */
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Line2h line2h(double a, double b, double c) {
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double data[3];
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data[0] = a;
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data[1] = b;
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data[2] = c;
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return data;
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}
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/* ************************************************************************* */
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Point3h point3h(double X, double Y, double Z, double W) {
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double data[4];
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data[0] = X;
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data[1] = Y;
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data[2] = Z;
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data[3] = W;
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return data;
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}
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/* ************************************************************************* */
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Plane3h plane3h(double a, double b, double c, double d) {
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double data[4];
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data[0] = a;
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data[1] = b;
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data[2] = c;
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data[3] = d;
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return data;
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}
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/* ************************************************************************* */
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} // namespace gtsam
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