Types

OptionInfo

struct OptionInfo

Option info.

Public Members

std::int32_t min

Minimum value.

std::int32_t max

Maximum value.

std::int32_t def

Default value.

Resolution

struct Resolution

Resolution.

Public Members

std::uint16_t width

Width.

std::uint16_t height

Height.

StreamRequest

struct StreamRequest

Stream request.

Public Members

std::uint16_t width

Stream width in pixels.

std::uint16_t height

Stream height in pixels.

Format format

Stream pixel format.

std::uint16_t fps

Stream frames per second.

Intrinsics

IntrinsicsPinhole

struct IntrinsicsPinhole : public mynteye::IntrinsicsBase

Stream intrinsics (Pinhole)

Public Members

double fx

The focal length of the image plane, as a multiple of pixel width.

double fy

The focal length of the image plane, as a multiple of pixel height.

double cx

The horizontal coordinate of the principal point of the image.

double cy

The vertical coordinate of the principal point of the image.

std::uint8_t model

The distortion model of the image

double coeffs[5]

The distortion coefficients: k1,k2,p1,p2,k3.

IntrinsicsEquidistant

struct IntrinsicsEquidistant : public mynteye::IntrinsicsBase

Stream intrinsics (Equidistant: KANNALA_BRANDT)

Public Members

double coeffs[8]

The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0.

ImuIntrinsics

struct ImuIntrinsics

IMU intrinsics: scale, drift and variances.

Public Members

double scale[3][3]

Scale matrix.

Scale X     cross axis  cross axis
cross axis  Scale Y     cross axis
cross axis  cross axis  Scale Z

double assembly[3][3]

Assembly error [3][3].

double noise[3]

Noise density variances.

double bias[3]

Random walk variances.

double x[2]

Temperature drift.

0 - Constant value
1 - Slope

MotionIntrinsics

struct MotionIntrinsics

Motion intrinsics, including accelerometer and gyroscope.

Public Members

ImuIntrinsics accel

Accelerometer intrinsics.

ImuIntrinsics gyro

Gyroscope intrinsics.

Extrinsics

struct Extrinsics

Extrinsics, represent how the different datas are connected.

Public Functions

Extrinsics Inverse() const

Inverse this extrinsics.

Return

the inversed extrinsics.

Public Members

double rotation[3][3]

Rotation matrix.

double translation[3]

Translation vector.

ImgData

struct ImgData

Image data.

Public Members

std::uint16_t frame_id

Image frame id.

std::uint64_t timestamp

Image timestamp in 1us.

std::uint16_t exposure_time

Image exposure time, virtual value in [1, 480].

bool is_ets = false

Is external time source.

ImuData

struct ImuData

IMU data.

Public Members

std::uint32_t frame_id

IMU frame id.

std::uint8_t flag

IMU accel or gyro flag.

0: accel and gyro are both valid

1: accel is valid

2: gyro is valid

bool is_ets = false

Is external time source.

std::uint64_t timestamp

IMU timestamp in 1us.

double accel[3]

IMU accelerometer data for 3-axis: X, Y, Z.

double gyro[3]

IMU gyroscope data for 3-axis: X, Y, Z.

double temperature

IMU temperature.