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| author | Martin Miller | 2017-03-31 16:39:17 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-31 16:39:17 -0500 |
| commit | 3896b8bb0f4026f5259bf23f43b0c991c002102f (patch) | |
| tree | 1fa3124341ec8a5e35e0e77419bd72cfad1b7967 /src/camera.cpp | |
| parent | 1c219e64d7e98cc622b4fbae8662a578ffc57053 (diff) | |
| download | refslam-3896b8bb0f4026f5259bf23f43b0c991c002102f.zip refslam-3896b8bb0f4026f5259bf23f43b0c991c002102f.tar.gz | |
yaw flags
Diffstat (limited to 'src/camera.cpp')
| -rw-r--r-- | src/camera.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/camera.cpp b/src/camera.cpp index a3816ac..f9a3ccf 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -75,11 +75,15 @@ Camera::Camera (const char *fin) Matrix<double,3,3> Camera::Rc2b ( ) { +#ifdef DOYAWCORRECT double yaw; yaw = M_PI*( YAWCORRECT )/180.; Matrix<double,3,3> Ry; Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ()); return Ry*_T.block<3,3>(0,0).transpose(); +#else + return _T.block<3,3>(0,0).transpose(); +#endif } /* ----- end of method Camera::Rc2b ----- */ /* @@ -92,6 +96,7 @@ Camera::Rc2b ( ) Matrix<double,4,4> Camera::Rc2b4 ( ) { +#ifdef DOYAWCORRECT double yaw; yaw = M_PI*( YAWCORRECT )/180.; Matrix<double,3,3> Ry; @@ -100,6 +105,11 @@ Camera::Rc2b4 ( ) Matrix<double,4,4> R; R = Matrix<double,4,4>::Identity(); R.block<3,3>(0,0) = Ry*Rc2b(); +#else + Matrix<double,4,4> R; + R = Matrix<double,4,4>::Identity(); + R.block<3,3>(0,0) = Rc2b(); +#endif return R ; } /* ----- end of method Camera::Rc2b4 ----- */ |