From 57cd82860b47d1c6daa70c299e8672f54aee7b01 Mon Sep 17 00:00:00 2001
From: Ricardo Fabbri <rfabbri@gmail.com>
Date: Wed, 6 Nov 2024 02:17:33 -0300
Subject: [PATCH] [Trifocal+P2Pt] printing full non-truncated K_

---
 src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp      | 3 ++-
 src/openMVG/sfm/pipelines/sequential/sequential_SfM_test.cpp | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp
index 526dfc81..d9afb5a0 100644
--- a/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp
+++ b/src/openMVG/sfm/pipelines/sequential/sequential_SfM.cpp
@@ -10,6 +10,7 @@
 #include <array>
 #include <functional>
 #include <iostream>
+#include <iomanip>
 #include <utility>
 #include <chrono>
 
@@ -383,7 +384,7 @@ MakeInitialTriplet3D(const Triplet &current_triplet)
       OPENMVG_LOG_ERROR << "Trifocal initialization only works for pinhole intrinsics K matrix.";
       return false;
     }
-    OPENMVG_LOG_INFO << "K for v " << v << std::endl << dynamic_cast<const Pinhole_Intrinsic *>(cam[v])->K();
+    OPENMVG_LOG_INFO << "K for v " << v << std::fixed << std::setprecision(4) <<  std::endl << dynamic_cast<const Pinhole_Intrinsic *>(cam[v])->K();
   }
 
   OPENMVG_LOG_INFO << "Putative starting triplet info\n\tindex:";
diff --git a/src/openMVG/sfm/pipelines/sequential/sequential_SfM_test.cpp b/src/openMVG/sfm/pipelines/sequential/sequential_SfM_test.cpp
index f52c473a..b655aca2 100644
--- a/src/openMVG/sfm/pipelines/sequential/sequential_SfM_test.cpp
+++ b/src/openMVG/sfm/pipelines/sequential/sequential_SfM_test.cpp
@@ -313,7 +313,7 @@ TEST(SEQUENTIAL_SFM, OrientedSfM)
   // Configure the features_provider & the matches_provider from the synthetic dataset
   std::shared_ptr<Features_Provider> feats_provider =
     std::make_shared<Synthetic_Oriented_Features_Provider>();
-  // Add a tiny noise in 2D observations to make data more realistic
+  // No noise is added in this test - perfect data
   dynamic_cast<Synthetic_Oriented_Features_Provider*>(feats_provider.get())->load(d);
 
   std::shared_ptr<Matches_Provider> matches_provider =