added doc and tests for util2d.h

data/rgbd/calib/154.yaml

@@ -0,0 +1,17 @@
+%YAML:1.0
+---
+camera_name: "154"
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 525., 0., 3.1950000000000000e+02, 0., 525.,
+       2.3950000000000000e+02, 0., 0., 1. ]
+local_transform:
+   rows: 3
+   cols: 4
+   data: [ -1.09767914e-03, 5.99460304e-02, 9.98201132e-01,
+       4.20193411e-02, -9.99999523e-01, -6.60419464e-05, -1.09562278e-03,
+       -8.86659764e-05, 8.94069672e-08, -9.98201728e-01, 5.99459410e-02,
+       4.28920656e-01 ]

data/rgbd/calib/17.yaml

@@ -0,0 +1,17 @@
+%YAML:1.0
+---
+camera_name: "17"
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 525., 0., 3.1950000000000000e+02, 0., 525.,
+       2.3950000000000000e+02, 0., 0., 1. ]
+local_transform:
+   rows: 3
+   cols: 4
+   data: [ -1.46162510e-03, 5.99460006e-02, 9.98200655e-01,
+       6.20153509e-02, -9.99999106e-01, -8.77380371e-05, -1.45888329e-03,
+       -1.63501027e-04, -2.98023224e-08, -9.98201728e-01, 5.99459410e-02,
+       4.28920656e-01 ]

data/stereo_rect/left.yaml

@@ -0,0 +1,24 @@
+%YAML:1.0
+camera_name: stereo_20Hz_left
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0.,
+       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 5
+   data: [ 0., 0., 0., 0., 0. ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0., 0.,
+       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 0., 1.,
+       0. ]

data/stereo_rect/right.yaml

@@ -0,0 +1,24 @@
+%YAML:1.0
+camera_name: stereo_20Hz_right
+image_width: 640
+image_height: 480
+camera_matrix:
+   rows: 3
+   cols: 3
+   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02, 0.,
+       4.8760873413085938e+02, 2.4944424438476562e+02, 0., 0., 1. ]
+distortion_coefficients:
+   rows: 1
+   cols: 5
+   data: [ 0., 0., 0., 0., 0. ]
+distortion_model: plumb_bob
+rectification_matrix:
+   rows: 3
+   cols: 3
+   data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
+projection_matrix:
+   rows: 3
+   cols: 4
+   data: [ 4.8760873413085938e+02, 0., 3.1811621093750000e+02,
+       -5.8362700032946350e+01, 0., 4.8760873413085938e+02,
+       2.4944424438476562e+02, 0., 0., 0., 1., 0. ]