void IMU::loadCalibrationData(IO::File& calibrationFile)
{
calibrationFile.setEndianness(Misc::LittleEndian);
/* Read the accelerometer matrix: */
for(int i=0;i<3;++i)
for(int j=0;j<4;++j)
calibrationData.accelerometerMatrix(i,j)=Scalar(calibrationFile.read<Misc::Float64>());
// DEBUGGING
std::cout<<"Accelerometer matrix: "<<calibrationData.accelerometerMatrix<<std::endl;
/* Read the gyroscope matrix: */
for(int i=0;i<3;++i)
for(int j=0;j<4;++j)
calibrationData.gyroscopeMatrix(i,j)=Scalar(calibrationFile.read<Misc::Float64>());
// DEBUGGING
std::cout<<"Gyroscope matrix: "<<calibrationData.gyroscopeMatrix<<std::endl;
if(calibrationData.magnetometer)
{
/* Read the magnetometer matrix: */
for(int i=0;i<3;++i)
for(int j=0;j<4;++j)
calibrationData.magnetometerMatrix(i,j)=Scalar(calibrationFile.read<Misc::Float64>());
// DEBUGGING
std::cout<<"Magnetometer matrix: "<<calibrationData.magnetometerMatrix<<std::endl;
}
}
void LensDistortionParameters::write(IO::File& file) const
{
file.setEndianness(Misc::LittleEndian);
file.write<double>(center.getComponents(),2);
file.write<double>(radiusScale2);
file.write<double>(kappa,2);
file.write<double>(rho,3);
}