diff options
| 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.h | |
| parent | a00695161d51b88159c4394ef018696632a90e59 (diff) | |
| download | refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.zip refslam-1a5bbf751ee0e924b514989f859084ebcd733dc6.tar.gz | |
Full state estimation and vision process are working.
Diffstat (limited to 'src/camera.h')
| -rw-r--r-- | src/camera.h | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/camera.h b/src/camera.h index 51ba9a6..78808ad 100644 --- a/src/camera.h +++ b/src/camera.h @@ -9,7 +9,7 @@ #include "types.h" #define BINNING 0.5 // set the binning factor #define YAWCORRECT 2.0 -//#define DOYAWCORRECT +#define DOYAWCORRECT using Eigen::Matrix; using Eigen::Vector4d; using Eigen::Vector3d; @@ -32,7 +32,9 @@ class Camera /* ==================== ACCESSORS ======================================= */ Vector4d d() const; + cv::Vec4d d( int x ) const; Matrix<double,3,3> K() const; + cv::Matx33d K(int x) const; Matrix<double,4,4> K4() const; Vector3d principalPoint() const; Matrix<double,3,3> Rc2b() const; |