Merge pull request #384 from oddkiva/enh-add-chessboard-calibration-f…

…or-pinhole-camera ENH: add chessboard calibration for pinhole camera
oddkiva · May 28, 2024 · 7ecac10 · 7ecac10
2 parents 9a8eb92 + 5ad01fe
commit 7ecac10
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Showing 8 changed files with 605 additions and 47 deletions.
diff --git a/cpp/drafts/Calibration/tool/calibrate_omnidirectional_cameras.cpp b/cpp/drafts/Calibration/tool/calibrate_omnidirectional_cameras.cpp
@@ -70,8 +70,7 @@ inline auto inspect(sara::ImageView<sara::Rgb8>& image,                 //
   {
     for (auto x = 0; x < chessboard.width(); ++x)
     {
-      auto P = Eigen::Vector3d{};
-      P << chessboard.scene_point(x, y).cast<double>(), 0;
+      Eigen::Vector3d P = chessboard.scene_point(x, y).cast<double>();
       P = R * P + t;
 
       const Eigen::Vector2f p1 = chessboard.image_point(x, y);