First solveP3P results that are looking consistent.

Translation vector in meters seems to be spot on.
Rotation angles still need to be computed.
Radial distortion still need to be taken into account.

1 files changed, 8 insertions, 1 deletions

diff --git a/video/camera.hpp b/video/camera.hpp
index 4ad8417cf..be9ef7119 100644
--- a/video/camera.hpp
+++ b/video/camera.hpp
@@ -49,12 +49,19 @@ struct OTR_VIDEO_EXPORT camera
     struct info final
     {
         int width = 0, height = 0, fps = 0;
+        float focalLengthX = 0.0f;
+        float focalLengthY = 0.0f;
+        float principalPointX = 0.0f;
+        float principalPointY = 0.0f;
+        float radialDistortionSecondOrder = 0.0f;
+        float radialDistortionFourthOrder = 0.0f;
+        float radialDistortionSixthOrder = 0.0f;
     };
 
     camera();
     virtual ~camera();
 
-    [[nodiscard]] virtual bool start(const info& args) = 0;
+    [[nodiscard]] virtual bool start(info& args) = 0;
     virtual void stop() = 0;
     virtual bool is_open() = 0;