a_persp_mes.h

Go to the documentation of this file.

/*
Copyright 2010-2011 Pierre SMARS (smars@yuntech.edu.tw)
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 2 of the License, or
(at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _VE_PERSP_MES_H_
#define _VE_PERSP_MES_H_
 
// .NAME a_persp_mes
// .SECTION Author
// Pierre Smars
 
#include "a_unwarp.h"
#include "a_intern.h"
#include "a_pos2.h"
 
#include <iostream>
//---------------------------------------------------------------------------
class a_mat_test;
//---------------------------------------------------------------------------
class a_persp_mes
{
public:
        a_persp_mes();
        a_persp_mes(double mx, double my, double mz, double mu, double mv, int pos = 0, int cam = 0);
        
        inline void cam(int cam) {ref_cam_ = cam;}
        inline void pos(int pos) {ref_pos_ = pos;}
        inline int cam() const {return ref_cam_;}
        inline int pos() const {return ref_pos_;}
 
        double residual(a_unwarp *,a_intern *, a_pos2 *);
 
        //: input/output
        friend   std::istream&    operator>> (std::istream& i, a_persp_mes& l);
        friend   std::ostream&    operator<< (std::ostream& o, const a_persp_mes& l);
 
protected:
        static a_mat_test * T_;
        double p3_[3]; //measured 3d point
        double p2_[2]; //measured 2D projection
        //camera info
        int                     ref_cam_;
        int                     ref_pos_;
};
 
#endif