| Line 26... |
Line 26... |
| 26 |
for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
|
26 |
for(unsigned int i=0; i<cam1_errors_per_view.size(); i++)
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| 27 |
stream << "\t\t\t" << cam1_errors_per_view[i] << " px" << std::endl;
|
27 |
stream << "\t\t\t" << cam1_errors_per_view[i] << " px" << std::endl;
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| 28 |
|
28 |
|
| 29 |
stream << "Stereo Parameters: " << std::endl
|
29 |
stream << "Stereo Parameters: " << std::endl
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| 30 |
<< "\t rotation: \t\t[" << R1(0,0) << " " << R1(0,1) << " " << R1(0,2) << "; "
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30 |
<< "\t rotation: \t\t[" << R1(0,0) << " " << R1(0,1) << " " << R1(0,2) << "; "
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| 31 |
<< R1(1,0) << " " << R1(1,1) << " " << R1(1,2) << " "
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31 |
<< R1(1,0) << " " << R1(1,1) << " " << R1(1,2) << "; "
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| 32 |
<< R1(2,0) << " " << R1(2,1) << " " << R1(2,2) << "]" << std::endl
|
32 |
<< R1(2,0) << " " << R1(2,1) << " " << R1(2,2) << "]" << std::endl
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| 33 |
<< "\t translation: \t[" << T1(0) << T1(1) << " " << T1(2) << std::endl
|
33 |
<< "\t translation: \t[" << T1(0) << " " << T1(1) << " " << T1(2) << "]" << std::endl
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| 34 |
<< "\t reprojection error: \n\t\t\t" << stereo_error << " px" << std::endl;
|
34 |
<< "\t reprojection error: \n\t\t\t" << stereo_error << " px" << std::endl;
|
| 35 |
}
|
35 |
}
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| 36 |
|
36 |
|
| 37 |
void SMCalibrationParameters::printRotationStage(std::ostream &stream){
|
37 |
void SMCalibrationParameters::printRotationStage(std::ostream &stream){
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| 38 |
|
38 |
|
| 39 |
stream << std::setprecision(6)
|
39 |
stream << std::setprecision(4)
|
| 40 |
<< "Parameters: " << std::endl
|
40 |
<< "Parameters: " << std::endl
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| 41 |
<< "\t rotation: \t [" << Rr(0,0) << Rr(0,1) << " " << Rr(0,2) << "; "
|
41 |
<< "\t rotation: \t [" << Rr(0,0) << " " << Rr(0,1) << " " << Rr(0,2) << "; "
|
| 42 |
<< Rr(1,0) << " " << Rr(1,1) << " " << Rr(1,2) << " "
|
42 |
<< Rr(1,0) << " " << Rr(1,1) << " " << Rr(1,2) << "; "
|
| 43 |
<< Rr(2,0) << " " << Rr(2,1) << " " << Rr(2,2) << " " << std::endl
|
43 |
<< Rr(2,0) << " " << Rr(2,1) << " " << Rr(2,2) << "]" << std::endl
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| 44 |
<< "\t translation: \t[" << Tr(0) << " " << Tr(1) << " " << Tr(2) << "]" << std::endl
|
44 |
<< "\t translation: \t[" << Tr(0) << " " << Tr(1) << " " << Tr(2) << "]" << std::endl
|
| 45 |
<< "\t error: \n\t\t\t" << rot_axis_error << " mm" << std::endl;
|
45 |
<< "\t error: \n\t\t\t" << rot_axis_error << " mm" << std::endl;
|
| 46 |
}
|
46 |
}
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| 47 |
|
47 |
|
| 48 |
void SMCalibrationParameters::print(std::ostream &stream){
|
48 |
void SMCalibrationParameters::print(std::ostream &stream){
|