[Jderobot-admin] jderobot-r1055 - in trunk/src/stable: components/rgbdViewer libs/geometry/progeo

[frivas en jderobot.org]

Author: frivas
Date: 2013-10-15 12:30:32 +0200 (Tue, 15 Oct 2013)
New Revision: 1055

Modified:
   trunk/src/stable/components/rgbdViewer/myprogeo.cpp
   trunk/src/stable/libs/geometry/progeo/Progeo.cpp
   trunk/src/stable/libs/geometry/progeo/Progeo.h
Log:
#61 refactored progeo lib


Modified: trunk/src/stable/components/rgbdViewer/myprogeo.cpp
===================================================================
--- trunk/src/stable/components/rgbdViewer/myprogeo.cpp	2013-10-15 10:21:38 UTC (rev 1054)
+++ trunk/src/stable/components/rgbdViewer/myprogeo.cpp	2013-10-15 10:30:32 UTC (rev 1055)
@@ -93,7 +93,8 @@
 		foa(1)=1;
 		foa(2)=0;
 		foa(3)=1;
-		this->cameras[cam]->setFoaRoll(foa,0.);
+		this->cameras[cam]->setFoa(foa);
+		this->cameras[cam]->setRoll(0);
 
 		//this->cameras[cam]->updateKMatrix();
 		this->cameras[cam]->updateRTMatrix();

Modified: trunk/src/stable/libs/geometry/progeo/Progeo.cpp
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.cpp	2013-10-15 10:21:38 UTC (rev 1054)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.cpp	2013-10-15 10:30:32 UTC (rev 1055)
@@ -610,9 +610,13 @@
 	columns = width;
 }
 
-void Progeo::setFoaRoll(Eigen::Vector4d Foa, float Roll)
+void Progeo::setFoa(Eigen::Vector4d Foa){
+	this->foa=Foa;
+}
+
+
+void Progeo::setRoll( float Roll)
 {
-	this->foa=Foa;
 	this->roll=Roll;
 }
 

Modified: trunk/src/stable/libs/geometry/progeo/Progeo.h
===================================================================
--- trunk/src/stable/libs/geometry/progeo/Progeo.h	2013-10-15 10:21:38 UTC (rev 1054)
+++ trunk/src/stable/libs/geometry/progeo/Progeo.h	2013-10-15 10:30:32 UTC (rev 1055)
@@ -67,10 +67,12 @@
 	void setKMatrix (Eigen::Matrix3d KMatrix);
 	void setRTMatrix (Eigen::Matrix4d RTMatrix);
 	void setImageSize (int width, int height);
-	void setFoaRoll(Eigen::Vector4d Foa, float Roll);
+	void setFoa(Eigen::Vector4d Foa);
+	void setRoll(float Roll);
 
 	Eigen::Vector4d getPosition() {return position; };
 	Eigen::Vector4d getFoa() {return foa; };
+	float getRoll() {return roll; };
 
 	void backproject(Eigen::Vector3d point, Eigen::Vector4d& pro);
 	int project(Eigen::Vector4d in, Eigen::Vector3d &out);