diff options
Diffstat (limited to 'src/camera.cpp')
| -rw-r--r-- | src/camera.cpp | 13 |
1 files changed, 11 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 ----- */ |