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intrinsics.cpp
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intrinsics.cpp
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#include "intrinsics.h"
Eigen::Matrix3d Intrinsics::toCalibrationMatrix()
{
// Todo 3.1: Construct the calibration matrix correctly.
return Eigen::Matrix3d::Identity();
}
Intrinsics::Vector5d Intrinsics::toDistortionCoefficientVector()
{
// Todo 3.2: Construct the distortion coefficients on the form [k1, k2, 0, 0, k3].
return Vector5d::Zero();
}
std::istream& operator>>(std::istream& is, Intrinsics& intrinsics)
{
is >> intrinsics.fu
>> intrinsics.fv
>> intrinsics.s
>> intrinsics.cu
>> intrinsics.cv
>> intrinsics.k1
>> intrinsics.k2
>> intrinsics.k3;
if (!is)
{
throw std::runtime_error("Could not read Intrinsics data");
}
return is;
}
std::ostream& operator<<(std::ostream& os, const Intrinsics& intrinsics)
{
os << "fu: " << intrinsics.fu << "\n"
<< "fv: " << intrinsics.fv << "\n"
<< " s: " << intrinsics.s << "\n"
<< "cu: " << intrinsics.cu << "\n"
<< "cv: " << intrinsics.cv << "\n"
<< "k1: " << intrinsics.k1 << "\n"
<< "k2: " << intrinsics.k2 << "\n"
<< "k3: " << intrinsics.k3 << "\n";
return os;
}