diff options
| -rw-r--r-- | src/camera.cpp | 13 | ||||
| -rw-r--r-- | src/camera.h | 1 |
2 files changed, 12 insertions, 2 deletions
diff --git a/src/camera.cpp b/src/camera.cpp index 60d33bd..a3816ac 100644 --- a/src/camera.cpp +++ b/src/camera.cpp @@ -75,7 +75,11 @@ Camera::Camera (const char *fin) Matrix<double,3,3> Camera::Rc2b ( ) { - return _T.block<3,3>(0,0).transpose(); + 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(); } /* ----- end of method Camera::Rc2b ----- */ /* @@ -88,9 +92,14 @@ Camera::Rc2b ( ) Matrix<double,4,4> Camera::Rc2b4 ( ) { + double yaw; + yaw = M_PI*( YAWCORRECT )/180.; + Matrix<double,3,3> Ry; + Ry = Eigen::AngleAxisd(yaw, Vector3d::UnitZ()); + Matrix<double,4,4> R; R = Matrix<double,4,4>::Identity(); - R.block<3,3>(0,0) = Rc2b(); + R.block<3,3>(0,0) = Ry*Rc2b(); return R ; } /* ----- end of method Camera::Rc2b4 ----- */ diff --git a/src/camera.h b/src/camera.h index bee8246..599fa23 100644 --- a/src/camera.h +++ b/src/camera.h @@ -5,6 +5,7 @@ #include <yaml-cpp/yaml.h> #define BINNING 0.5 // set the binning factor +#define YAWCORRECT 7.5 using Eigen::Matrix; using Eigen::Vector4d; using Eigen::Vector3d; |