void CObservationStereoImagesFeatures::getDescriptionAsText(std::ostream &o) const
{
CObservation::getDescriptionAsText(o);
o << "Homogeneous matrix for the sensor's 3D pose, relative to robot base:\n";
o << cameraPoseOnRobot.getHomogeneousMatrixVal()
<< cameraPoseOnRobot << endl;
o << "Homogeneous matrix for the RIGHT camera's 3D pose, relative to LEFT camera reference system:\n";
o << rightCameraPose.getHomogeneousMatrixVal()
<< rightCameraPose << endl;
o << "Intrinsic parameters matrix for the LEFT camera:"<< endl;
CMatrixDouble33 aux = cameraLeft.intrinsicParams;
o << aux.inMatlabFormat() << endl << aux << endl;
o << "Distortion parameters vector for the LEFT camera:"<< endl << "[ ";
for( unsigned int i = 0; i < 5; ++i )
o << cameraLeft.dist[i] << " ";
o << "]" << endl;
o << "Intrinsic parameters matrix for the RIGHT camera:"<< endl;
aux = cameraRight.intrinsicParams;
o << aux.inMatlabFormat() << endl << aux << endl;
o << "Distortion parameters vector for the RIGHT camera:"<< endl << "[ ";
for( unsigned int i = 0; i < 5; ++i )
o << cameraRight.dist[i] << " ";
o << "]"<< endl;
o << endl << format(" Image size: %ux%u pixels\n", (unsigned int)cameraLeft.ncols, (unsigned int)cameraLeft.nrows );
o << endl << format(" Number of features in images: %u\n", (unsigned int)theFeatures.size() );
}
