| 27 |
jakw |
1 |
#include "SMCalibrationParameters.h"
|
|
|
2 |
|
|
|
3 |
|
|
|
4 |
void SMCalibrationParameters::print(){
|
|
|
5 |
|
|
|
6 |
std::cout << "Calibration Parameters:" << std::endl;
|
|
|
7 |
std::cout << "K0: " << std::endl;
|
|
|
8 |
std::cout << K0 << std::endl;
|
|
|
9 |
std::cout << "k0: " << std::endl;
|
|
|
10 |
std::cout << k0 << std::endl;
|
|
|
11 |
std::cout << "K1: " << std::endl;
|
|
|
12 |
std::cout << K1 << std::endl;
|
|
|
13 |
std::cout << "k1: " << std::endl;
|
|
|
14 |
std::cout << k1 << std::endl;
|
|
|
15 |
std::cout << "cam0_error: " << std::endl;
|
|
|
16 |
std::cout << cam0_error << std::endl;
|
|
|
17 |
std::cout << "cam1_error: " << std::endl;
|
|
|
18 |
std::cout << cam1_error << std::endl;
|
|
|
19 |
std::cout << "stereo_error: " << std::endl;
|
|
|
20 |
std::cout << stereo_error << std::endl;
|
|
|
21 |
}
|
|
|
22 |
|
|
|
23 |
// QStreamtypes for qDebug() and QSettings
|
|
|
24 |
QDataStream& operator>>(QDataStream& in, SMCalibrationParameters& data){
|
|
|
25 |
|
|
|
26 |
in >> data.K0(0,0) >> data.K0(0,1) >> data.K0(0,2) >> data.K0(1,0) >> data.K0(1,1) >> data.K0(1,2) >> data.K0(2,0) >> data.K0(2,1) >> data.K0(2,2);
|
|
|
27 |
in >> data.k0(0) >> data.k0(1) >> data.k0(2) >> data.k0(3) >> data.k0(4);
|
|
|
28 |
in >> data.cam0_error;
|
|
|
29 |
|
|
|
30 |
in >> data.K1(0,0) >> data.K1(0,1) >> data.K1(0,2) >> data.K1(1,0) >> data.K1(1,1) >> data.K1(1,2) >> data.K1(2,0) >> data.K1(2,1) >> data.K1(2,2);
|
|
|
31 |
in >> data.k1(0) >> data.k1(1) >> data.k1(2) >> data.k1(3) >> data.k1(4);
|
|
|
32 |
in >> data.cam1_error;
|
|
|
33 |
|
|
|
34 |
in >> data.R1(0,0) >> data.R1(0,1) >> data.R1(0,2) >> data.R1(1,0) >> data.R1(1,1) >> data.R1(1,2) >> data.R1(2,0) >> data.R1(2,1) >> data.R1(2,2);
|
|
|
35 |
in >> data.T1(0) >> data.T1(1) >> data.T1(2);
|
|
|
36 |
in >> data.stereo_error;
|
|
|
37 |
|
| 31 |
jakw |
38 |
in >> data.E(0,0) >> data.E(0,1) >> data.E(0,2) >> data.E(1,0) >> data.E(1,1) >> data.E(1,2) >> data.E(2,0) >> data.E(2,1) >> data.E(2,2);
|
|
|
39 |
in >> data.F(0,0) >> data.F(0,1) >> data.F(0,2) >> data.F(1,0) >> data.F(1,1) >> data.F(1,2) >> data.F(2,0) >> data.F(2,1) >> data.F(2,2);
|
|
|
40 |
|
|
|
41 |
in >> data.Rr(0,0) >> data.Rr(0,1) >> data.Rr(0,2) >> data.Rr(1,0) >> data.Rr(1,1) >> data.Rr(1,2) >> data.Rr(2,0) >> data.Rr(2,1) >> data.Rr(2,2);
|
|
|
42 |
in >> data.Tr(0) >> data.Tr(1) >> data.Tr(2);
|
|
|
43 |
|
| 27 |
jakw |
44 |
return in;
|
|
|
45 |
}
|
|
|
46 |
|
|
|
47 |
QDataStream& operator<<(QDataStream& out, const SMCalibrationParameters& data){
|
|
|
48 |
|
|
|
49 |
out << data.K0(0,0) << data.K0(0,1) << data.K0(0,2) << data.K0(1,0) << data.K0(1,1) << data.K0(1,2) << data.K0(2,0) << data.K0(2,1) << data.K0(2,2);
|
|
|
50 |
out << data.k0(0) << data.k0(1) << data.k0(2) << data.k0(3) << data.k0(4);
|
|
|
51 |
out << data.cam0_error;
|
|
|
52 |
|
|
|
53 |
out << data.K1(0,0) << data.K1(0,1) << data.K1(0,2) << data.K1(1,0) << data.K1(1,1) << data.K1(1,2) << data.K1(2,0) << data.K1(2,1) << data.K1(2,2);
|
|
|
54 |
out << data.k1(0) << data.k1(1) << data.k1(2) << data.k1(3) << data.k1(4);
|
|
|
55 |
out << data.cam1_error;
|
|
|
56 |
|
|
|
57 |
out << data.R1(0,0) << data.R1(0,1) << data.R1(0,2) << data.R1(1,0) << data.R1(1,1) << data.R1(1,2) << data.R1(2,0) << data.R1(2,1) << data.R1(2,2);
|
|
|
58 |
out << data.T1(0) << data.T1(1) << data.T1(2);
|
|
|
59 |
out << data.stereo_error;
|
|
|
60 |
|
| 31 |
jakw |
61 |
out << data.E(0,0) << data.E(0,1) << data.E(0,2) << data.E(1,0) << data.E(1,1) << data.E(1,2) << data.E(2,0) << data.E(2,1) << data.E(2,2);
|
|
|
62 |
out << data.F(0,0) << data.F(0,1) << data.F(0,2) << data.F(1,0) << data.F(1,1) << data.F(1,2) << data.F(2,0) << data.F(2,1) << data.F(2,2);
|
|
|
63 |
|
|
|
64 |
out << data.Rr(0,0) << data.Rr(0,1) << data.Rr(0,2) << data.Rr(1,0) << data.Rr(1,1) << data.Rr(1,2) << data.Rr(2,0) << data.Rr(2,1) << data.Rr(2,2);
|
|
|
65 |
out << data.Tr(0) << data.Tr(1) << data.Tr(2);
|
|
|
66 |
|
| 27 |
jakw |
67 |
return out;
|
|
|
68 |
|
|
|
69 |
}
|
|
|
70 |
|
|
|
71 |
|
|
|
72 |
|