| 21 | return cam; |
| 22 | } |
| 23 | std::pair<vec2, float> FrameData::Project3(vec3 wp) const |
| 24 | { |
| 25 | vec3 p = pose.inverse().cast<float>() * wp; |
| 26 | vec2 np = p.head<2>() / p(2); |
| 27 | vec2 disp = distortNormalizedPoint(np, distortion); |
| 28 | // vec2 disp = np; |
| 29 | vec2 ip = K.normalizedToImage(disp); |
| 30 | return {ip, p(2)}; |
| 31 | } |
| 32 | |
| 33 | SceneData::SceneData(std::string scene_path) : scene_path(scene_path) |
| 34 | { |
no outgoing calls
no test coverage detected