00001 #ifndef LOPER_INTRINSICSEXTRINSICSCONTAINER
00002 #define LOPER_INTRINSICSEXTRINSICSCONTAINER
00003 
00014 #include <gsl/gsl_multifit_nlin.h>
00015 
00016 #include "GslMatrix.hpp"
00017 
00018 
00021 class IntrinsicsExtrinsicsContainer : public GslVector
00022 {
00023 public:
00024         IntrinsicsExtrinsicsContainer()
00025         {
00026                 resize(7);
00027         }
00028 
00029         double & alpha()    { return this->at(0); }
00030         double & skewness() { return this->at(1); }
00031         double & u0()       { return this->at(2); }
00032         double & beta()     { return this->at(3); }
00033         double & v0()       { return this->at(4); }
00034         double & k0()       { return this->at(5); }
00035         double & k1()       { return this->at(6); }
00036 
00037         double alpha()    const { return this->at(0); }
00038         double skewness() const { return this->at(1); }
00039         double u0()       const { return this->at(2); }
00040         double beta()     const { return this->at(3); }
00041         double v0()       const { return this->at(4); }
00042         double k0()       const { return this->at(5); }
00043         double k1()       const { return this->at(6); }
00044 
00045         void setNumExtrinsics (unsigned int n) { resize (7 + 6 * n); }
00046         void setRotation (unsigned int index, const GslVector &v);
00047         void setTranslation(unsigned int index, const GslVector &v);
00048 
00049         GslMatrix getExtrinsicsMatrix(unsigned int imageIdx) const;
00050         GslMatrix getIntrinsicsMatrix() const;
00051         GslVector getRotation (unsigned int imageIdx) const;
00052         GslVector getTranslation(unsigned int imageIdx) const;
00053         GslMatrix getTransformation(unsigned int imageIdx) const;
00054 
00055 private:
00056         void resize(unsigned int rows) { GslVector::resize(rows); }
00057 };
00058 
00059 
00060 #endif // LOPER_INTRINSICSEXTRINSICSCONTAINER
IntrinsicsExtrinsicsContainer.hpp
