Class CameraCalibration

pose_graph/include/common/Definitions.h:124–142

};

struct CameraCalibration {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  Eigen::Matrix<double, 4, 4> T_imu_cam0_;  ///< Transformation from camera to sensor (IMU) frame.
  Eigen::Vector2i image_dimension_;         ///< Image dimension. [pixels]
  cv::Mat distortion_coefficients_;         ///< Distortion Coefficients.
  Eigen::Vector2d focal_length_;            ///< Focal length.
  Eigen::Vector2d principal_point_;         ///< Principal point.
  std::string distortion_type_;             ///< Distortion type. ('radialtangential' 'plumb_bob' 'equidistant')

  void print() {
    std::cout << "CameraCalibration: " << std::endl;
    std::cout << "T_IMU_Cam0: \n" << T_imu_cam0_ << std::endl;
    std::cout << "Image dimension: " << image_dimension_.transpose() << std::endl;
    std::cout << "Distortion Coefficients: \n" << distortion_coefficients_ << std::endl;
    std::cout << "Focal length: " << focal_length_.transpose() << std::endl;
    std::cout << "Principal point: " << principal_point_.transpose() << std::endl;
    std::cout << "Distortion type: " << distortion_type_ << std::endl;
  }
};