Types¶
OptionInfo¶
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struct OptionInfo¶
Option info.
Resolution¶
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struct Resolution¶
StreamRequest¶
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struct StreamRequest¶
Stream request.
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¶
- Deprecated:
Replaced by calib_model_.
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double coeffs[5]¶
The distortion coefficients: k1,k2,p1,p2,k3.
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double fx¶
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 drift[3]¶
Zero-drift: X, Y, Z.
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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 scale[3][3]¶
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 accel¶
Extrinsics¶
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struct Extrinsics¶
Extrinsics, represent how the different datas are connected.
Public Functions
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inline Extrinsics Inverse() const¶
Inverse this extrinsics.
- Returns
the inversed extrinsics.
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inline Extrinsics Inverse() const¶
ImgData¶
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struct ImgData¶
Image data.
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 frame_id¶