void K4ACalibrationTransformData::printCameraCalibration()

in src/k4a_calibration_transform_data.cpp [118:144]

• 25 lines of code
• 1 McCabe index (conditional complexity)

void K4ACalibrationTransformData::printCameraCalibration(k4a_calibration_camera_t& calibration)
{
  printExtrinsics(calibration.extrinsics);

  ROS_INFO("\t\t Resolution:");
  ROS_INFO_STREAM("\t\t\t Width: " << calibration.resolution_width);
  ROS_INFO_STREAM("\t\t\t Height: " << calibration.resolution_height);

  ROS_INFO("\t\t Intrinsics:");
  ROS_INFO_STREAM("\t\t\t Model Type: " << calibration.intrinsics.type);
  ROS_INFO_STREAM("\t\t\t Parameter Count: " << calibration.intrinsics.parameter_count);
  ROS_INFO_STREAM("\t\t\t cx: " << calibration.intrinsics.parameters.param.cx);
  ROS_INFO_STREAM("\t\t\t cy: " << calibration.intrinsics.parameters.param.cy);
  ROS_INFO_STREAM("\t\t\t fx: " << calibration.intrinsics.parameters.param.fx);
  ROS_INFO_STREAM("\t\t\t fy: " << calibration.intrinsics.parameters.param.fy);
  ROS_INFO_STREAM("\t\t\t k1: " << calibration.intrinsics.parameters.param.k1);
  ROS_INFO_STREAM("\t\t\t k2: " << calibration.intrinsics.parameters.param.k2);
  ROS_INFO_STREAM("\t\t\t k3: " << calibration.intrinsics.parameters.param.k3);
  ROS_INFO_STREAM("\t\t\t k4: " << calibration.intrinsics.parameters.param.k4);
  ROS_INFO_STREAM("\t\t\t k5: " << calibration.intrinsics.parameters.param.k5);
  ROS_INFO_STREAM("\t\t\t k6: " << calibration.intrinsics.parameters.param.k6);
  ROS_INFO_STREAM("\t\t\t codx: " << calibration.intrinsics.parameters.param.codx);
  ROS_INFO_STREAM("\t\t\t cody: " << calibration.intrinsics.parameters.param.cody);
  ROS_INFO_STREAM("\t\t\t p2: " << calibration.intrinsics.parameters.param.p2);
  ROS_INFO_STREAM("\t\t\t p1: " << calibration.intrinsics.parameters.param.p1);
  ROS_INFO_STREAM("\t\t\t metric_radius: " << calibration.intrinsics.parameters.param.metric_radius);
}