From c238bc0dcba716e44d4ed708bf6ef803967c6aee Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 21 Mar 2017 10:34:56 -0500
Subject: Add Camera::rc2b() method.

---
 src/camera.cpp | 32 ++++++++++++++++++++++++++++++++
 src/camera.h   |  2 ++
 2 files changed, 34 insertions(+)

(limited to 'src')

diff --git a/src/camera.cpp b/src/camera.cpp
index a78746f..dcc5a44 100644
--- a/src/camera.cpp
+++ b/src/camera.cpp
@@ -28,6 +28,7 @@
 Camera::Camera (const char *fin)
 {
     YAML::Node config = YAML::LoadFile(fin);
+
     _K(0,0) = BINNING*config["camera_matrix"]["data"][0].as<double>();
     _K(0,1) = BINNING*config["camera_matrix"]["data"][1].as<double>();
     _K(0,2) = BINNING*config["camera_matrix"]["data"][2].as<double>();
@@ -43,9 +44,40 @@ Camera::Camera (const char *fin)
     _d[2] = config["distortion_coefficients"]["data"][2].as<double>();
     _d[3] = config["distortion_coefficients"]["data"][3].as<double>();
 
+    _T(0,0) = config["T_cam_imu"][0][0].as<double>();
+    _T(0,1) = config["T_cam_imu"][0][1].as<double>();
+    _T(0,2) = config["T_cam_imu"][0][2].as<double>();
+    _T(0,3) = config["T_cam_imu"][0][3].as<double>();
+    _T(1,0) = config["T_cam_imu"][1][0].as<double>();
+    _T(1,1) = config["T_cam_imu"][1][1].as<double>();
+    _T(1,2) = config["T_cam_imu"][1][2].as<double>();
+    _T(1,3) = config["T_cam_imu"][1][3].as<double>();
+    _T(2,0) = config["T_cam_imu"][2][0].as<double>();
+    _T(2,1) = config["T_cam_imu"][2][1].as<double>();
+    _T(2,2) = config["T_cam_imu"][2][2].as<double>();
+    _T(2,3) = config["T_cam_imu"][2][3].as<double>();
+    _T(3,0) = config["T_cam_imu"][3][0].as<double>();
+    _T(3,1) = config["T_cam_imu"][3][1].as<double>();
+    _T(3,2) = config["T_cam_imu"][3][2].as<double>();
+    _T(3,3) = config["T_cam_imu"][3][3].as<double>();
+
 }  /* -----  end of method Camera::Camera  (constructor)  ----- */
 
 
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Camera
+ *      Method:  Camera :: Rc2b
+ * Description:  Returns the rotation matrix that transforms a point from the
+ * camera frame to the body frame.
+ *--------------------------------------------------------------------------------------
+ */
+Matrix<double,3,3>
+Camera::Rc2b (  )
+{
+    return _T.block<3,3>(0,0).transpose();
+}		/* -----  end of method Camera::Rc2b  ----- */
+
 Matrix<double,3,3>
 Camera::K (  )
 {
diff --git a/src/camera.h b/src/camera.h
index 9e5f736..54c47b9 100644
--- a/src/camera.h
+++ b/src/camera.h
@@ -21,6 +21,7 @@ class Camera
         /* ====================  ACCESSORS     ======================================= */
         Matrix<double,3,3> K();
         Vector4d d();
+        Matrix<double,3,3> Rc2b();
 
         /* ====================  MUTATORS      ======================================= */
 
@@ -36,6 +37,7 @@ class Camera
 
         /* ====================  DATA MEMBERS  ======================================= */
         Matrix<double,3,3> _K;
+        Matrix<double,4,4> _T;
         Vector4d _d;
 
 }; /* -----  end of class Camera  ----- */
-- 
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