Types¶
Intrinsics¶
IntrinsicsPinhole¶
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struct
IntrinsicsPinhole
: public mynteye::IntrinsicsBase¶ Stream intrinsics (Pinhole)
Public Members
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double
fx
¶ The focal length of the image plane, as a multiple of pixel width.
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double
fy
¶ The focal length of the image plane, as a multiple of pixel height.
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double
cx
¶ The horizontal coordinate of the principal point of the image.
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double
cy
¶ The vertical coordinate of the principal point of the image.
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std::uint8_t
model
¶ The distortion model of the image
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double
coeffs
[5]¶ The distortion coefficients: k1,k2,p1,p2,k3.
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double
IntrinsicsEquidistant¶
ImuIntrinsics¶
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struct
ImuIntrinsics
¶ IMU intrinsics: scale, drift and variances.
Public Members
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double
scale
[3][3]¶ Scale matrix.
Scale X cross axis cross axis cross axis Scale Y cross axis cross axis cross axis Scale Z
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double
assembly
[3][3]¶ Assembly error [3][3].
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double
noise
[3]¶ Noise density variances.
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double
bias
[3]¶ Random walk variances.
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double
x
[2]¶ Temperature drift.
0 - Constant value 1 - Slope
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double
MotionIntrinsics¶
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struct
MotionIntrinsics
¶ Motion intrinsics, including accelerometer and gyroscope.
Public Members
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ImuIntrinsics
accel
¶ Accelerometer intrinsics.
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ImuIntrinsics
gyro
¶ Gyroscope intrinsics.
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ImuIntrinsics
Extrinsics¶
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struct
Extrinsics
¶ Extrinsics, represent how the different datas are connected.
Public Functions
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Extrinsics
Inverse
() const¶ Inverse this extrinsics.
- Return
- the inversed extrinsics.
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Extrinsics
ImuData¶
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struct
ImuData
¶ IMU data.
Public Members
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std::uint32_t
frame_id
¶ IMU frame id.
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std::uint8_t
flag
¶ IMU accel or gyro flag.
0: accel and gyro are both valid
1: accel is valid
2: gyro is valid
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bool
is_ets
= false¶ Is external time source.
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std::uint64_t
timestamp
¶ IMU timestamp in 1us.
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double
accel
[3]¶ IMU accelerometer data for 3-axis: X, Y, Z.
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double
gyro
[3]¶ IMU gyroscope data for 3-axis: X, Y, Z.
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double
temperature
¶ IMU temperature.
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std::uint32_t