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() ); }