diff options
Diffstat (limited to 'src/camera.h')
| -rw-r--r-- | src/camera.h | 7 |
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 ======================================= */ |