ENH: add calibration program for the pinhole camera model alongside with

code improvements.
oddkiva · May 27, 2024 · ef64698 · ef64698
1 parent 9a8eb92
commit ef64698
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Showing 5 changed files with 550 additions and 35 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);