From 3896b8bb0f4026f5259bf23f43b0c991c002102f Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 31 Mar 2017 16:39:17 -0500
Subject: yaw flags

---
 src/camera.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

(limited to 'src/camera.cpp')

diff --git a/src/camera.cpp b/src/camera.cpp
index a3816ac..f9a3ccf 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -75,11 +75,15 @@ Camera::Camera (const char *fin)
 Matrix<double,3,3>
 Camera::Rc2b (  )
 {
+#ifdef DOYAWCORRECT
     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();
+#else
+    return _T.block<3,3>(0,0).transpose();
+#endif
 }		/* -----  end of method Camera::Rc2b  ----- */
 
 /*
@@ -92,6 +96,7 @@ Camera::Rc2b (  )
 Matrix<double,4,4>
 Camera::Rc2b4 ( )
 {
+#ifdef DOYAWCORRECT
     double yaw;
     yaw = M_PI*( YAWCORRECT )/180.;
     Matrix<double,3,3> Ry;
@@ -100,6 +105,11 @@ Camera::Rc2b4 ( )
     Matrix<double,4,4> R;
     R = Matrix<double,4,4>::Identity();
     R.block<3,3>(0,0) = Ry*Rc2b();
+#else
+    Matrix<double,4,4> R;
+    R = Matrix<double,4,4>::Identity();
+    R.block<3,3>(0,0) = Rc2b();
+#endif
     return R ;
 }		/* -----  end of method Camera::Rc2b4  ----- */
 
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