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authorMartin Miller2017-04-09 13:25:13 -0500
committerMartin Miller2017-04-09 13:25:13 -0500
commite5c3b5117c2f3936967319223e353ac6c7a0b1ca (patch)
tree56c9e8812985205b0a5242b73cc0f32d0886c17d /src/camera.h
parentb1315673d8cba1380d00bd571191f403cfc9e99d (diff)
downloadrefslam-e5c3b5117c2f3936967319223e353ac6c7a0b1ca.zip
refslam-e5c3b5117c2f3936967319223e353ac6c7a0b1ca.tar.gz
warp source and reflection patches
Diffstat (limited to 'src/camera.h')
-rw-r--r--src/camera.h7
1 files changed, 7 insertions, 0 deletions
diff --git a/src/camera.h b/src/camera.h
index 3de64a6..51ba9a6 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -1,9 +1,12 @@
#ifndef camera_INC
#define camera_INC
+#include <cv.h>
#include <Eigen/Dense>
#include <iostream>
+#include <opencv2/highgui/highgui.hpp>
#include <yaml-cpp/yaml.h>
+#include "types.h"
#define BINNING 0.5 // set the binning factor
#define YAWCORRECT 2.0
//#define DOYAWCORRECT
@@ -40,9 +43,13 @@ class Camera
/* ==================== OPERATORS ======================================= */
Vector3d img2body(const Vector3d &xi) const;
Vector3d body2img(const Vector3d &xb) const;
+ cv::Mat warpPatch(const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1) const;
+ cv::Mat reflectPatch( const cv::Mat &p, const Quaterniond &q0, const Quaterniond &q1 ) const;
protected:
/* ==================== METHODS ======================================= */
+ double roll(const Quaterniond &q) const;
+ double pitch(const Quaterniond &q) const;
/* ==================== DATA MEMBERS ======================================= */