debug GPU version

GPU_version/svo/include/gpu_svo/abstract_camera.h

@@ -0,0 +1,77 @@
+/*
+ * abstract_camera.h
+ *
+ *  Created on: Jul 23, 2012
+ *      Author: cforster
+ */
+
+#ifndef ABSTRACT_CAMERA_H_
+#define ABSTRACT_CAMERA_H_
+
+#include <Eigen/Core>
+
+namespace vk
+{
+
+using namespace std;
+using namespace Eigen;
+
+class AbstractCamera
+{
+protected:
+
+  int width_;   // TODO cannot be const because of omni-camera model
+  int height_;
+
+public:
+
+  AbstractCamera() {}; // need this constructor for omni camera
+  AbstractCamera(int width, int height) : width_(width), height_(height) {};
+
+  virtual ~AbstractCamera() {};
+
+  /// Project from pixels to world coordiantes. Returns a bearing vector of unit length.
+  virtual Vector3d
+  cam2world(const double& x, const double& y) const = 0;
+
+  /// Project from pixels to world coordiantes. Returns a bearing vector of unit length.
+  virtual Vector3d
+  cam2world(const Vector2d& px) const = 0;
+
+  virtual Vector2d
+  world2cam(const Vector3d& xyz_c) const = 0;
+
+  /// projects unit plane coordinates to camera coordinates
+  virtual Vector2d
+  world2cam(const Vector2d& uv) const = 0;
+
+  virtual double
+  errorMultiplier2() const = 0;
+
+  virtual double
+  errorMultiplier() const = 0;
+
+  inline int width() const { return width_; }
+
+  inline int height() const { return height_; }
+
+  inline bool isInFrame(const Vector2i & obs, int boundary=0) const
+  {
+    if(obs[0]>=boundary && obs[0]<width()-boundary
+        && obs[1]>=boundary && obs[1]<height()-boundary)
+      return true;
+    return false;
+  }
+
+  inline bool isInFrame(const Vector2i &obs, int boundary, int level) const
+  {
+    if(obs[0] >= boundary && obs[0] < width()/(1<<level)-boundary
+        && obs[1] >= boundary && obs[1] <height()/(1<<level)-boundary)
+      return true;
+    return false;
+  }
+};
+
+} // end namespace CSfM
+
+#endif /* ABSTRACT_CAMERA_H_ */