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| author | Martin Miller | 2017-04-09 15:59:29 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-09 15:59:29 -0500 |
| commit | 1a5bbf751ee0e924b514989f859084ebcd733dc6 (patch) | |
| tree | bbcfce931b51be6d5d19411578582e5c8492eccd /src/camera.cpp | |
| parent | a00695161d51b88159c4394ef018696632a90e59 (diff) | |
| download | refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.zip refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.tar.gz | |
Full state estimation and vision process are working.
Diffstat (limited to 'src/camera.cpp')
| -rw-r--r-- | src/camera.cpp | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/camera.cpp b/src/camera.cpp index 2040641..8d0be89 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -143,6 +143,16 @@ Camera::K ( ) const return _K ; } /* ----- end of method Camera::K ----- */ +cv::Matx33d +Camera::K (int x) const +{ + cv::Matx33d k; + k << _K(0,0), _K(0,1), _K(0,2), + _K(1,0), _K(1,1), _K(1,2), + _K(2,0), _K(2,1), _K(2,2); + return k; +} + /* *-------------------------------------------------------------------------------------- * Class: Camera @@ -156,6 +166,12 @@ Camera::d ( ) const return _d; } /* ----- end of method Camera::d ----- */ +cv::Vec4d +Camera::d ( int x ) const +{ + return cv::Vec4d( _d(0), _d(1), _d(2), _d(3)); +} + /* *-------------------------------------------------------------------------------------- * Class: Camera |