787 lines
18 KiB
C++
787 lines
18 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
#ifndef MYNTEYE_TYPES_H_
|
|
#define MYNTEYE_TYPES_H_
|
|
#pragma once
|
|
|
|
#include <memory.h>
|
|
#include <string>
|
|
|
|
#include <cstdint>
|
|
|
|
#include <algorithm>
|
|
#include <iostream>
|
|
#include <type_traits>
|
|
|
|
#include "mynteye/mynteye.h"
|
|
|
|
MYNTEYE_BEGIN_NAMESPACE
|
|
|
|
/**
|
|
* @defgroup enumerations Enumerations
|
|
* @brief Public enumeration types.
|
|
*/
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Device model.
|
|
*/
|
|
enum class Model : std::uint8_t {
|
|
/** Standard */
|
|
STANDARD,
|
|
/** Standard 2 */
|
|
STANDARD2,
|
|
/** Standard 210a */
|
|
STANDARD210A,
|
|
/** Standard 200b */
|
|
STANDARD200B,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Streams define different type of data.
|
|
*/
|
|
enum class Stream : std::uint8_t {
|
|
/** Left stream */
|
|
LEFT,
|
|
/** Right stream */
|
|
RIGHT,
|
|
/** Left stream, rectified */
|
|
LEFT_RECTIFIED,
|
|
/** Right stream, rectified */
|
|
RIGHT_RECTIFIED,
|
|
/** Disparity stream */
|
|
DISPARITY,
|
|
/** Disparity stream, normalized */
|
|
DISPARITY_NORMALIZED,
|
|
/** Depth stream */
|
|
DEPTH,
|
|
/** Point cloud stream */
|
|
POINTS,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Capabilities define the full set of functionality that the device
|
|
* might provide.
|
|
*/
|
|
enum class Capabilities : std::uint8_t {
|
|
/** Provides stereo stream */
|
|
STEREO,
|
|
/** Provide stereo color stream */
|
|
STEREO_COLOR,
|
|
/** Provides color stream */
|
|
COLOR,
|
|
/** Provides depth stream */
|
|
DEPTH,
|
|
/** Provides point cloud stream */
|
|
POINTS,
|
|
/** Provides fisheye stream */
|
|
FISHEYE,
|
|
/** Provides infrared stream */
|
|
INFRARED,
|
|
/** Provides second infrared stream */
|
|
INFRARED2,
|
|
/** Provides IMU (accelerometer, gyroscope) data */
|
|
IMU,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Camera info fields are read-only strings that can be queried from the
|
|
* device.
|
|
*/
|
|
enum class Info : std::uint8_t {
|
|
/** Device name */
|
|
DEVICE_NAME,
|
|
/** Serial number */
|
|
SERIAL_NUMBER,
|
|
/** Firmware version */
|
|
FIRMWARE_VERSION,
|
|
/** Hardware version */
|
|
HARDWARE_VERSION,
|
|
/** Spec version */
|
|
SPEC_VERSION,
|
|
/** Lens type */
|
|
LENS_TYPE,
|
|
/** IMU type */
|
|
IMU_TYPE,
|
|
/** Nominal baseline */
|
|
NOMINAL_BASELINE,
|
|
/** Auxiliary chip version */
|
|
AUXILIARY_CHIP_VERSION,
|
|
/** Isp version */
|
|
ISP_VERSION,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Camera control options define general configuration controls.
|
|
*/
|
|
enum class Option : std::uint8_t {
|
|
/**
|
|
* Image gain, valid if manual-exposure
|
|
* <p>
|
|
* range: [0,48], default: 24
|
|
* </p>
|
|
*/
|
|
GAIN,
|
|
/**
|
|
* Image brightness, valid if manual-exposure
|
|
* <p>
|
|
* range: [0,240], default: 120
|
|
* </p>
|
|
*/
|
|
BRIGHTNESS,
|
|
/**
|
|
* Image contrast, valid if manual-exposure
|
|
* <p>
|
|
* range: [0,255], default: 127
|
|
* </p>
|
|
*/
|
|
CONTRAST,
|
|
|
|
/**
|
|
* Image frame rate, must set IMU_FREQUENCY together
|
|
* <p>
|
|
* values: {10,15,20,25,30,35,40,45,50,55,60}, default: 25
|
|
* </p>
|
|
*/
|
|
FRAME_RATE,
|
|
/**
|
|
* IMU frequency, must set FRAME_RATE together
|
|
* <p>
|
|
* values: {100,200,250,333,500}, default: 200
|
|
* </p>
|
|
*/
|
|
IMU_FREQUENCY,
|
|
|
|
/**
|
|
* Exposure mode
|
|
* <p>
|
|
* 0: enable auto-exposure<br>
|
|
* 1: disable auto-exposure (manual-exposure)
|
|
* </p>
|
|
*/
|
|
EXPOSURE_MODE,
|
|
/**
|
|
* Max gain, valid if auto-exposure
|
|
* <p>
|
|
* range of standard 1: [0,48], default: 48<br>
|
|
* range of standard 2: [0,255], default: 8
|
|
* </p>
|
|
*/
|
|
MAX_GAIN,
|
|
/**
|
|
* Max exposure time, valid if auto-exposure
|
|
* <p>
|
|
* range of standard 1: [0,240], default: 240<br>
|
|
* range of standard 2: [0,1000], default: 333
|
|
* </p>
|
|
*/
|
|
MAX_EXPOSURE_TIME,
|
|
/**
|
|
* min exposure time, valid if auto-exposure
|
|
* <p>
|
|
* range: [0,1000], default: 0<br>
|
|
* </p>
|
|
*/
|
|
MIN_EXPOSURE_TIME,
|
|
/**
|
|
* Desired brightness, valid if auto-exposure
|
|
* <p>
|
|
* range of standard 1: [0,255], default: 192<br>
|
|
* range of standard 2: [1,255], default: 122
|
|
* </p>
|
|
*/
|
|
DESIRED_BRIGHTNESS,
|
|
|
|
/**
|
|
* IR control
|
|
* <p>
|
|
* range: [0,160], default: 0<br>
|
|
* </p>
|
|
*/
|
|
IR_CONTROL,
|
|
/**
|
|
* HDR mode
|
|
* <p>
|
|
* 0: 10-bit<br>
|
|
* 1: 12-bit
|
|
* </p>
|
|
*/
|
|
HDR_MODE,
|
|
|
|
/**
|
|
* The range of accelerometer
|
|
* <p>
|
|
* value of standard 1: {4,8,16,32}, default: 8<br>
|
|
* value of standard 2: {6,12,24,48}, default: 12
|
|
* </p>
|
|
*/
|
|
ACCELEROMETER_RANGE,
|
|
/**
|
|
* The range of gyroscope
|
|
* <p>
|
|
* value of standard 1: {500,1000,2000,4000}, default: 1000<br>
|
|
* value of standard 2: {250,500,1000,2000,4000}, default: 1000
|
|
* </p>
|
|
*/
|
|
GYROSCOPE_RANGE,
|
|
/**
|
|
* The parameter of accelerometer low pass filter
|
|
* <p>
|
|
* values: {0,1,2}, default: 2
|
|
* </p>
|
|
*/
|
|
ACCELEROMETER_LOW_PASS_FILTER,
|
|
/**
|
|
* The parameter of gyroscope low pass filter
|
|
* <p>
|
|
* values: {23,64}, default: 64
|
|
* </p>
|
|
*/
|
|
GYROSCOPE_LOW_PASS_FILTER,
|
|
|
|
/**
|
|
* The setting of IIC address
|
|
* <p>
|
|
* range: [0,127], default: 0
|
|
* </p>
|
|
*/
|
|
IIC_ADDRESS_SETTING,
|
|
|
|
/** Zero drift calibration */
|
|
ZERO_DRIFT_CALIBRATION,
|
|
/** Erase chip */
|
|
ERASE_CHIP,
|
|
|
|
/** Sync timestamp */
|
|
SYNC_TIMESTAMP,
|
|
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Source allows the user to choose which data to be captured.
|
|
*/
|
|
enum class Source : std::uint8_t {
|
|
/** Video streaming of stereo, color, depth, etc. */
|
|
VIDEO_STREAMING,
|
|
/** Motion tracking of IMU (accelerometer, gyroscope) */
|
|
MOTION_TRACKING,
|
|
/** Enable everything together */
|
|
ALL,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Add-Ons are peripheral modules of our hardware.
|
|
*/
|
|
enum class AddOns : std::uint8_t {
|
|
/** Infrared */
|
|
INFRARED,
|
|
/** Second infrared */
|
|
INFRARED2,
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
#define MYNTEYE_ENUM_HELPERS(TYPE) \
|
|
MYNTEYE_API const char *to_string(const TYPE &value); \
|
|
inline bool is_valid(const TYPE &value) { \
|
|
using utype = std::underlying_type<TYPE>::type; \
|
|
utype val = static_cast<utype>(value); \
|
|
utype max = static_cast<utype>(TYPE::LAST); \
|
|
return /*val >= 0 &&*/ val < max; \
|
|
} \
|
|
inline std::ostream &operator<<(std::ostream &os, const TYPE &value) { \
|
|
using utype = std::underlying_type<TYPE>::type; \
|
|
if (is_valid(value)) \
|
|
return os << to_string(value); \
|
|
else \
|
|
return os << static_cast<utype>(value); \
|
|
}
|
|
|
|
MYNTEYE_ENUM_HELPERS(Model)
|
|
MYNTEYE_ENUM_HELPERS(Stream)
|
|
MYNTEYE_ENUM_HELPERS(Capabilities)
|
|
MYNTEYE_ENUM_HELPERS(Info)
|
|
MYNTEYE_ENUM_HELPERS(Option)
|
|
MYNTEYE_ENUM_HELPERS(Source)
|
|
MYNTEYE_ENUM_HELPERS(AddOns)
|
|
|
|
#undef MYNTEYE_ENUM_HELPERS
|
|
|
|
#define MYNTEYE_FOURCC(a, b, c, d) \
|
|
((std::uint32_t)(a) | ((std::uint32_t)(b) << 8) | \
|
|
((std::uint32_t)(c) << 16) | ((std::uint32_t)(d) << 24)) // NOLINT
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Formats define how each stream can be encoded.
|
|
*/
|
|
enum class Format : std::uint32_t {
|
|
/** Greyscale, 8 bits per pixel */
|
|
GREY = MYNTEYE_FOURCC('G', 'R', 'E', 'Y'),
|
|
/** YUV 4:2:2, 16 bits per pixel */
|
|
YUYV = MYNTEYE_FOURCC('Y', 'U', 'Y', 'V'),
|
|
/** BGR 8:8:8, 24 bits per pixel */
|
|
BGR888 = MYNTEYE_FOURCC('B', 'G', 'R', '3'),
|
|
/** RGB 8:8:8, 24 bits per pixel */
|
|
RGB888 = MYNTEYE_FOURCC('R', 'G', 'B', '3'),
|
|
/** Last guard */
|
|
LAST
|
|
};
|
|
|
|
#undef MYNTEYE_FOURCC
|
|
|
|
/**
|
|
* @ingroup enumerations
|
|
* @brief Process modes.
|
|
*/
|
|
enum class ProcessMode : std::int32_t {
|
|
PROC_NONE = 0,
|
|
PROC_IMU_ASSEMBLY = 1,
|
|
PROC_IMU_TEMP_DRIFT = 2,
|
|
PROC_IMU_ALL = PROC_IMU_ASSEMBLY | PROC_IMU_TEMP_DRIFT
|
|
};
|
|
|
|
inline
|
|
std::int32_t operator&(const std::int32_t& lhs, const ProcessMode& rhs) {
|
|
return lhs & static_cast<std::int32_t>(rhs);
|
|
}
|
|
inline
|
|
std::int32_t operator&(const ProcessMode& lhs, const std::int32_t& rhs) {
|
|
return static_cast<std::int32_t>(lhs) & rhs;
|
|
}
|
|
inline
|
|
std::int32_t operator&(const ProcessMode& lhs, const ProcessMode& rhs) {
|
|
return static_cast<std::int32_t>(lhs) & static_cast<std::int32_t>(rhs);
|
|
}
|
|
|
|
MYNTEYE_API const char *to_string(const Format &value);
|
|
|
|
inline std::ostream &operator<<(std::ostream &os, const Format &value) {
|
|
return os << to_string(value);
|
|
}
|
|
|
|
MYNTEYE_API std::size_t bytes_per_pixel(const Format &value);
|
|
|
|
/**
|
|
* Resolution.
|
|
*/
|
|
struct MYNTEYE_API Resolution {
|
|
/** Width */
|
|
std::uint16_t width;
|
|
/** Height */
|
|
std::uint16_t height;
|
|
|
|
bool operator==(const Resolution &other) const {
|
|
return width == other.width && height == other.height;
|
|
}
|
|
bool operator!=(const Resolution &other) const {
|
|
return !(*this == other);
|
|
}
|
|
bool operator<(const Resolution &other) const {
|
|
return (width * height) < (other.width * other.height);
|
|
}
|
|
};
|
|
|
|
/**
|
|
* Stream request.
|
|
*/
|
|
struct MYNTEYE_API StreamRequest {
|
|
/** Stream width in pixels */
|
|
std::uint16_t width;
|
|
/** Stream height in pixels */
|
|
std::uint16_t height;
|
|
/** Stream pixel format */
|
|
Format format;
|
|
/** Stream frames per second */
|
|
std::uint16_t fps;
|
|
|
|
StreamRequest() {}
|
|
|
|
StreamRequest(
|
|
std::uint16_t width, std::uint16_t height, Format format,
|
|
std::uint16_t fps)
|
|
: width(width), height(height), format(format), fps(fps) {}
|
|
|
|
StreamRequest(const Resolution &res, Format format, std::uint16_t fps)
|
|
: width(res.width), height(res.height), format(format), fps(fps) {}
|
|
|
|
Resolution GetResolution() const { return {width, height}; }
|
|
|
|
bool operator==(const StreamRequest &other) const {
|
|
return width == other.width && height == other.height &&
|
|
format == other.format && fps == other.fps;
|
|
}
|
|
bool operator!=(const StreamRequest &other) const {
|
|
return !(*this == other);
|
|
}
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const StreamRequest &request);
|
|
|
|
/**
|
|
* @defgroup calibration Intrinsics & Extrinsics
|
|
* @brief Intrinsic and extrinsic properties.
|
|
*/
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* Camera calibration model.
|
|
*/
|
|
enum class CalibrationModel : std::uint8_t {
|
|
/** Pinhole */
|
|
PINHOLE = 0,
|
|
/** Equidistant: KANNALA_BRANDT */
|
|
KANNALA_BRANDT = 1,
|
|
/** Unknow */
|
|
UNKNOW
|
|
};
|
|
|
|
MYNTEYE_API const char *to_string(const CalibrationModel &model);
|
|
|
|
inline std::ostream &operator<<(std::ostream &os,
|
|
const CalibrationModel &model) {
|
|
return os << to_string(model);
|
|
}
|
|
|
|
struct MYNTEYE_API IntrinsicsBase {
|
|
IntrinsicsBase() {
|
|
calib_model_ = CalibrationModel::UNKNOW;
|
|
}
|
|
virtual ~IntrinsicsBase() {}
|
|
virtual void ResizeIntrinsics() {}
|
|
|
|
/** The calibration model */
|
|
CalibrationModel calib_model() const {
|
|
return calib_model_;
|
|
}
|
|
/** The width of the image in pixels */
|
|
std::uint16_t width;
|
|
/** The height of the image in pixels */
|
|
std::uint16_t height;
|
|
/** Resize scale */
|
|
double resize_scale = 1.0;
|
|
protected:
|
|
CalibrationModel calib_model_;
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const IntrinsicsBase &in);
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* Stream intrinsics (Pinhole)
|
|
*/
|
|
struct MYNTEYE_API IntrinsicsPinhole : public IntrinsicsBase {
|
|
IntrinsicsPinhole() {
|
|
calib_model_ = CalibrationModel::PINHOLE;
|
|
}
|
|
void ResizeIntrinsics() {
|
|
width = static_cast<std::uint16_t>(width * resize_scale);
|
|
height = static_cast<std::uint16_t>(height * resize_scale);
|
|
fx *= resize_scale;
|
|
fy *= resize_scale;
|
|
cx *= resize_scale;
|
|
cy *= resize_scale;
|
|
resize_scale = 1.0;
|
|
}
|
|
/** The focal length of the image plane, as a multiple of pixel width */
|
|
double fx;
|
|
/** The focal length of the image plane, as a multiple of pixel height */
|
|
double fy;
|
|
/** The horizontal coordinate of the principal point of the image */
|
|
double cx;
|
|
/** The vertical coordinate of the principal point of the image */
|
|
double cy;
|
|
/** @deprecated Replaced by calib_model_. The distortion model of the image */
|
|
std::uint8_t model;
|
|
/** The distortion coefficients: k1,k2,p1,p2,k3 */
|
|
double coeffs[5];
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const IntrinsicsPinhole &in);
|
|
|
|
/**
|
|
* @deprecated Replaced by IntrinsicsPinhole.
|
|
*/
|
|
using Intrinsics = IntrinsicsPinhole;
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* Stream intrinsics (Equidistant: KANNALA_BRANDT)
|
|
*/
|
|
struct MYNTEYE_API IntrinsicsEquidistant : public IntrinsicsBase {
|
|
IntrinsicsEquidistant() {
|
|
calib_model_ = CalibrationModel::KANNALA_BRANDT;
|
|
}
|
|
/** The distortion coefficients: k2,k3,k4,k5,mu,mv,u0,v0 */
|
|
double coeffs[8];
|
|
void ResizeIntrinsics() {
|
|
width = static_cast<std::uint16_t>(width * resize_scale);
|
|
height = static_cast<std::uint16_t>(height * resize_scale);
|
|
coeffs[4] *= resize_scale;
|
|
coeffs[5] *= resize_scale;
|
|
coeffs[6] *= resize_scale;
|
|
coeffs[7] *= resize_scale;
|
|
resize_scale = 1.0;
|
|
}
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const IntrinsicsEquidistant &in);
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* IMU intrinsics: scale, drift and variances.
|
|
*/
|
|
struct MYNTEYE_API ImuIntrinsics {
|
|
/**
|
|
* Scale matrix.
|
|
* \code
|
|
* Scale X cross axis cross axis
|
|
* cross axis Scale Y cross axis
|
|
* cross axis cross axis Scale Z
|
|
* \endcode
|
|
*/
|
|
double scale[3][3];
|
|
/** Assembly error [3][3] */
|
|
double assembly[3][3];
|
|
/* Zero-drift: X, Y, Z */
|
|
double drift[3];
|
|
/** Noise density variances */
|
|
double noise[3];
|
|
/** Random walk variances */
|
|
double bias[3];
|
|
|
|
/** Temperature drift
|
|
* \code
|
|
* 0 - Constant value
|
|
* 1 - Slope
|
|
* \endcode
|
|
*/
|
|
double x[2];
|
|
double y[2];
|
|
double z[2];
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const ImuIntrinsics &in);
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* Motion intrinsics, including accelerometer and gyroscope.
|
|
*/
|
|
struct MYNTEYE_API MotionIntrinsics {
|
|
ImuIntrinsics accel; /**< Accelerometer intrinsics */
|
|
ImuIntrinsics gyro; /**< Gyroscope intrinsics */
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const MotionIntrinsics &in);
|
|
|
|
/**
|
|
* @ingroup calibration
|
|
* Extrinsics, represent how the different datas are connected.
|
|
*/
|
|
struct MYNTEYE_API Extrinsics {
|
|
double rotation[3][3]; /**< Rotation matrix */
|
|
double translation[3]; /**< Translation vector */
|
|
|
|
/**
|
|
* Inverse this extrinsics.
|
|
* @return the inversed extrinsics.
|
|
*/
|
|
Extrinsics Inverse() const {
|
|
return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
|
|
{rotation[0][1], rotation[1][1], rotation[2][1]},
|
|
{rotation[0][2], rotation[1][2], rotation[2][2]}},
|
|
{-translation[0], -translation[1], -translation[2]}};
|
|
}
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const Extrinsics &ex);
|
|
|
|
|
|
/**
|
|
* @defgroup disparity params
|
|
*/
|
|
/**
|
|
* @ingroup disparity
|
|
* Camera disparity computing method type.
|
|
*/
|
|
enum class DisparityComputingMethod : std::uint8_t {
|
|
/** bm */
|
|
SGBM = 0,
|
|
/** sgbm */
|
|
BM = 1,
|
|
/** unknow */
|
|
UNKNOW
|
|
};
|
|
|
|
/**
|
|
* @defgroup datatypes Datatypes
|
|
* @brief Public data types.
|
|
*/
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* Image data.
|
|
*/
|
|
struct MYNTEYE_API ImgData {
|
|
/** Image frame id */
|
|
std::uint16_t frame_id;
|
|
/** Image timestamp in 1us */
|
|
std::uint64_t timestamp;
|
|
/** Image exposure time, virtual value in [1, 480] */
|
|
std::uint16_t exposure_time;
|
|
/** Is external time source */
|
|
bool is_ets = false;
|
|
|
|
void Reset() {
|
|
frame_id = 0;
|
|
timestamp = 0;
|
|
exposure_time = 0;
|
|
is_ets = false;
|
|
}
|
|
|
|
ImgData() {
|
|
Reset();
|
|
}
|
|
ImgData(const ImgData &other) {
|
|
frame_id = other.frame_id;
|
|
timestamp = other.timestamp;
|
|
exposure_time = other.exposure_time;
|
|
is_ets = other.is_ets;
|
|
}
|
|
ImgData &operator=(const ImgData &other) {
|
|
frame_id = other.frame_id;
|
|
timestamp = other.timestamp;
|
|
exposure_time = other.exposure_time;
|
|
is_ets = other.is_ets;
|
|
return *this;
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* IMU data.
|
|
*/
|
|
struct MYNTEYE_API ImuData {
|
|
/** IMU frame id */
|
|
std::uint32_t frame_id;
|
|
/**
|
|
* IMU accel or gyro flag
|
|
* <p>
|
|
* 0: accel and gyro are both valid<br>
|
|
* 1: accel is valid<br>
|
|
* 2: gyro is valid
|
|
* </p>
|
|
*/
|
|
std::uint8_t flag;
|
|
/** Is external time source */
|
|
bool is_ets = false;
|
|
/** IMU timestamp in 1us */
|
|
std::uint64_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;
|
|
|
|
void Reset() {
|
|
flag = 0;
|
|
timestamp = 0;
|
|
std::fill(accel, accel + 3, 0);
|
|
std::fill(gyro, gyro + 3, 0);
|
|
temperature = 0;
|
|
}
|
|
|
|
ImuData() {
|
|
Reset();
|
|
}
|
|
};
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* Option info.
|
|
*/
|
|
struct MYNTEYE_API OptionInfo {
|
|
/** Minimum value */
|
|
std::int32_t min;
|
|
/** Maximum value */
|
|
std::int32_t max;
|
|
/** Default value */
|
|
std::int32_t def;
|
|
};
|
|
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const OptionInfo &info);
|
|
|
|
/**
|
|
* @ingroup datatypes
|
|
* ROS camera info.
|
|
*/
|
|
struct MYNTEYE_API CameraROSMsgInfo {
|
|
/** height */
|
|
unsigned int height = 0;
|
|
/** width */
|
|
unsigned int width = 0;
|
|
/** calib model */
|
|
std::string distortion_model = "null";
|
|
double D[5] = {0};
|
|
double K[9] = {0};
|
|
double R[9] = {0};
|
|
double P[12] = {0};
|
|
};
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfo &info);
|
|
|
|
struct CameraROSMsgInfoPair {
|
|
inline bool isEmpty() {
|
|
return left.height * left.width * right.height * right.width <= 0;
|
|
}
|
|
struct CameraROSMsgInfo left;
|
|
struct CameraROSMsgInfo right;
|
|
double T_mul_f = -1.f;
|
|
double R[9] = {0};
|
|
double P[12] = {0};
|
|
};
|
|
MYNTEYE_API
|
|
std::ostream &operator<<(std::ostream &os, const CameraROSMsgInfoPair &info);
|
|
|
|
MYNTEYE_END_NAMESPACE
|
|
|
|
#endif // MYNTEYE_TYPES_H_
|