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/* Copyright (c) 2012 Patrick Ruoff
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*/
#pragma once
#include <opencv2/core.hpp>
#include "numeric.hpp"
namespace affine_impl {
using namespace types;
class Affine final
{
public:
Affine();
Affine(const mat33& R, const vec3& t);
mat33 R { mat33::eye() };
vec3 t { 0, 0, 0 };
};
Affine operator*(const Affine& X, const Affine& Y);
Affine operator*(const mat33& X, const Affine& Y);
Affine operator*(const Affine& X, const mat33& Y);
vec3 operator*(const Affine& X, const vec3& v);
} // ns affine_impl
using Affine = affine_impl::Affine;
//using affine_impl::operator *;
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