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Improve intrinsics & extrinsics interfaces

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This commit is contained in:
John Zhao
2018-04-19 22:44:40 +08:00
parent e04a05f6f9
commit f6120d5ae6
6 changed files with 210 additions and 268 deletions
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42
include/mynteye/types.h
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@@ -248,9 +248,9 @@ std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
/**
* @ingroup calibration
* Image intrinsics.
* Stream intrinsics,
*/
struct MYNTEYE_API ImgIntrinsics {
struct MYNTEYE_API Intrinsics {
/** width of the image in pixels */
std::uint16_t width;
/** height of the image in pixels */
@@ -269,13 +269,13 @@ struct MYNTEYE_API ImgIntrinsics {
double coeffs[5];
};
std::ostream &operator<<(std::ostream &os, const ImgIntrinsics &in);
std::ostream &operator<<(std::ostream &os, const Intrinsics &in);
/**
* @ingroup calibration
* IMU sensor intrinsics: scale, drift and variances.
* IMU intrinsics: scale, drift and variances.
*/
struct MYNTEYE_API ImuSensorIntrinsics {
struct MYNTEYE_API ImuIntrinsics {
/**
* Scale X cross axis cross axis
* cross axis Scale Y cross axis
@@ -291,18 +291,18 @@ struct MYNTEYE_API ImuSensorIntrinsics {
double bias[3];
};
std::ostream &operator<<(std::ostream &os, const ImuSensorIntrinsics &in);
std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in);
/**
* @ingroup calibration
* IMU intrinsics, including accelerometer and gyroscope.
* Motion intrinsics, including accelerometer and gyroscope.
*/
struct MYNTEYE_API ImuIntrinsics {
ImuSensorIntrinsics accel;
ImuSensorIntrinsics gyro;
struct MYNTEYE_API MotionIntrinsics {
ImuIntrinsics accel;
ImuIntrinsics gyro;
};
std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in);
std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
/**
* @ingroup calibration
@@ -315,26 +315,6 @@ struct MYNTEYE_API Extrinsics {
std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
/**
* @ingroup calibration
* Image extrinsics.
*/
struct MYNTEYE_API ImgExtrinsics {
Extrinsics left_to_right;
};
std::ostream &operator<<(std::ostream &os, const ImgExtrinsics &ex);
/**
* @ingroup calibration
* IMU extrinsics.
*/
struct MYNTEYE_API ImuExtrinsics {
Extrinsics left_to_imu;
};
std::ostream &operator<<(std::ostream &os, const ImuExtrinsics &ex);
/**
* @defgroup datatypes Datatypes
* @brief Public data types.