40 lines
1.2 KiB
C++
40 lines
1.2 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file Cal3_S2Stereo.cpp
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* @brief The most common 5DOF 3D->2D calibration + Stereo baseline
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* @author Chris Beall
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*/
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#include <gtsam/geometry/Cal3_S2Stereo.h>
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#include <iostream>
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namespace gtsam {
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using namespace std;
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/* ************************************************************************* */
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void Cal3_S2Stereo::print(const std::string& s) const {
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K_.print(s+"K: ");
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std::cout << s << "Baseline: " << b_ << std::endl;
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}
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/* ************************************************************************* */
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bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const {
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if (fabs(b_ - other.b_) > tol) return false;
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return K_.equals(other.K_,tol);
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}
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/* ************************************************************************* */
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} // namespace gtsam
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