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Update public types

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This commit is contained in:
John Zhao 2018-04-03 22:10:25 +08:00
parent 565ed603a9
commit e00740114e
1 changed files with 77 additions and 0 deletions
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77
include/mynteye/types.h
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@ -156,6 +156,83 @@ MYNTEYE_ENUM_HELPERS(Option)
#undef MYNTEYE_ENUM_HELPERS #undef MYNTEYE_ENUM_HELPERS
/** Video stream intrinsics */
struct Intrinsics {
/** width of the image in pixels */
std::uint16_t width;
/** height of the image in pixels */
std::uint16_t height;
//@{
/** focal length expressed in pixels */
double fx;
double fy;
//@}
//@{
/** principal point that is usually at the image center */
double cx;
double cy;
//@}
/** distortion model of the image */
std::uint8_t model;
/** distortion coefficients: k1,k2,p1,p2,k3 */
double coeffs[5];
};
/** IMU sensor intrinsics: scale, drift and variances */
struct ImuSensorIntrinsics {
/**
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
* cross axis cross axis Scale Z
*/
double scale[3][3];
/* Zero-drift: X, Y, Z */
double drift[3];
/** Noise density variances */
double noise[3];
/** Random walk variances */
double bias[3];
};
/** IMU intrinsics, including accelerometer and gyroscope */
struct ImuIntrinsics {
ImuSensorIntrinsics accel;
ImuSensorIntrinsics gyro;
};
/**
* Cross-stream extrinsics, represent how the different devices are connected
*/
struct Extrinsics {
double rotation[3][3]; /**< rotation matrix */
double translation[3]; /**< translation vector */
};
/** Image data */
struct ImgData {
/** Image frame id */
std::uint16_t frame_id;
/** Image timestamp in 0.01ms */
std::uint32_t timestamp;
/** Image exposure time in 0.01ms */
std::uint16_t exposure_time;
};
/** IMU data */
struct ImuData {
/** Image frame id */
std::uint16_t frame_id;
/** IMU timestamp in 0.01ms */
std::uint32_t timestamp;
/** IMU accelerometer data for 3-axis: X, Y, Z. */
double accel[3];
/** IMU gyroscope data for 3-axis: X, Y, Z. */
double gyro[3];
/** IMU temperature */
double temperature;
};
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE
#endif // MYNTEYE_TYPES_H_ NOLINT #endif // MYNTEYE_TYPES_H_ NOLINT