Added EpipolarGeometry::findFFromCalibratedStereoCameras()

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1971 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-02 01:20:25 +08:00 · 2014-11-06 04:50:46 +00:00
parent c8203f2119
commit a6078bfad4
2 changed files with 24 additions and 0 deletions
--- a/corelib/include/rtabmap/core/EpipolarGeometry.h
+++ b/corelib/include/rtabmap/core/EpipolarGeometry.h
@@ -82,6 +82,8 @@ public:
 			cv::Mat & r,
 			cv::Mat & t);

+	static cv::Mat findFFromCalibratedStereoCameras(double fx, double fy, double cx, double cy, double Tx, double Ty);
+
 	/**
 	 * if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)]
 	 * realPairsCount = 5