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CameraK4A: refactored to unify playback and real device code. Fixed ir option (with rectification).

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matlabbe
2020-09-04 12:48:18 -04:00
parent d2784095a3
commit 49cb470b8d
6 changed files with 309 additions and 402 deletions
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corelib/src/CameraModel.cpp
+12
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@@ -765,4 +765,16 @@ bool CameraModel::inFrame(int u, int v) const
return uIsInBounds(u, 0, imageWidth()) && uIsInBounds(v, 0, imageHeight());
}
std::ostream& operator<<(std::ostream& os, const CameraModel& model)
{
os << "Name: " << model.name() << std::endl
<< "Size: " << model.imageWidth() << "x" << model.imageHeight() << std::endl
<< "K= " << model.K_raw() << std::endl
<< "D= " << model.D_raw() << std::endl
<< "R= " << model.R() << std::endl
<< "P= " << model.P() << std::endl
<< "LocalTransform= " << model.localTransform();
return os;
}
} /* namespace rtabmap */