36 #include <Geometry/PMatrix.hh>
37 #include <Geometry/RMatrix.hh>
38 #include <Base/Geometry/KMatrix.hh>
44 int main(
int argc,
char *argv[]) {
48 cout <<
"$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ ExampleLoadBBC $$$$$$$$$$$$$$$$$$$$$$"
51 cout<<
"Usage: ExampleLoadBBC <filename>"<<endl;
55 cout <<
"Loading BBC-Free-D data from file: "<<argv[1]<<endl;
59 cout <<
"P : "<<P<<endl;
60 cout <<
"K: "<<P.
GetK()<<endl;
61 cout <<
"R: "<<P.
GetR()<<endl;
62 cout <<
"C: "<<P.
GetC()<<endl;
int GetR(Matrix3x3< double > &R)
int LoadBBC(const std::string &filename, const double &AddCenterPointShiftX=0.0, const double &AddCenterPointShiftY=0.0)
Load calibration data file from BBC-Free-D system.
int GetC(Vector3< double > &C)
computes translation vector origin world coo -> origin camera coo (center), uses decomposition, which is cached
K describes the mapping from world coordinates (wcs) to pixel coordinates (pcs).
describes a projective 3D -> 2D mapping in homogenous coordinates
int GetK(KMatrix &K)
calibration matrix