[Jderobot-admin] jderobot-r1001 - trunk/src/stable/libs/geometry/progeo

[rocapal en jderobot.org]

Author: rocapal
Date: 2013-10-06 18:01:38 +0200 (Sun, 06 Oct 2013)
New Revision: 1001

Modified:
   trunk/src/stable/libs/geometry/progeo/Progeo.cpp
   trunk/src/stable/libs/geometry/progeo/Progeo.h
Log:
#61 added updateKMatrix method


Modified: trunk/src/stable/libs/geometry/progeo/Progeo.cpp
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.cpp	2013-10-06 15:48:24 UTC (rev 1000)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.cpp	2013-10-06 16:01:38 UTC (rev 1001)
@@ -566,6 +566,26 @@
     RT(3,3) = 1.;
 }
 
+void Progeo::updateKMatrix()
+{
+
+	K(0,0) = fdistx;
+	K(0,1) = skew*fdisty;
+	K(0,2) = u0;
+	K(0,3) = 0.;
+
+	K(1,0) = 0.;
+    K(1,1) = fdisty;
+    K(1,2) = v0;
+    K(1,3) = 0.;
+
+    K(2,0) = 0.;
+    K(2,1) = 0.;
+    K(2,2) = 1.;
+    K(2,3) = 0.;
+
+}
+
 void Progeo::pixel2optical (Eigen::Vector3d &point)
 {
 	double aux = point(0);

Modified: trunk/src/stable/libs/geometry/progeo/Progeo.h
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.h	2013-10-06 15:48:24 UTC (rev 1000)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.h	2013-10-06 16:01:38 UTC (rev 1001)
@@ -73,6 +73,7 @@
 	void backproject(Eigen::Vector3d point, Eigen::Vector4d& pro);
 	int project(Eigen::Vector4d in, Eigen::Vector3d &out);
 
+	void updateKMatrix();
 	void updateRTMatrix();
 	void displayCameraInfo();