62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
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// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "mynteye/api/config.h"
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MYNTEYE_BEGIN_NAMESPACE
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/**
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* default intrinsics
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*/
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std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
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auto res = std::make_shared<IntrinsicsPinhole>();
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res->fx = 3.6220059643202876e+02;
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res->fy = 3.6350065250745848e+02;
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res->cx = 4.0658699068023441e+02;
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res->cy = 2.3435161110061483e+02;
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double codffs[5] = {
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-2.5034765682756088e-01,
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5.0579399202897619e-02,
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-7.0536676161976066e-04,
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-8.5255451307033846e-03,
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0.
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};
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for (unsigned int i = 0; i < 5; i++) {
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res->coeffs[i] = codffs[i];
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}
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return res;
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}
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std::shared_ptr<Extrinsics> getDefaultExtrinsics() {
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auto res = std::make_shared<Extrinsics>();
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double rotation[9] = {
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9.9867908939669447e-01, -6.3445566137485428e-03, 5.0988459509619687e-02,
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5.9890316389333252e-03, 9.9995670037792639e-01, 7.1224201868366971e-03,
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-5.1031440326695092e-02, -6.8076406092671274e-03, 9.9867384471984544e-01
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};
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double translation[3] = {-1.2002489764113250e+02, -1.1782637409050747e+00,
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-5.2058205159996538e+00};
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for (unsigned int i = 0; i < 3; i++) {
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for (unsigned int j = 0; j < 3; j++) {
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res->rotation[i][j] = rotation[i*3 + j];
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}
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}
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for (unsigned int i = 0; i < 3; i++) {
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res->translation[i] = translation[i];
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}
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return res;
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}
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MYNTEYE_END_NAMESPACE
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