24 lines
809 B
Markdown
24 lines
809 B
Markdown
# Image Params {#spec_image_params}
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## Image Intrinsics
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| Name | Field | Unit | Bytes | Note |
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| :----- | :----- | :----- | :-------- | :----- |
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| Image width | width | px | 2 | uint16_t; [0,65535] |
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| Image height | height | px | 2 | uint16_t; [0,65535] |
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| Focal length | fx | - | 8 | double |
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| ^ | fy | - | 8 | double |
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| Principal point | cx | - | 8 | double |
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| ^ | cy | - | 8 | double |
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| Distortion model | model | - | 1 | uint8_t; pinhole,... |
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| Distortion coefficients | coeffs[5] | - | 40 | double; k1,k2,p1,p2,k3 |
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## Image Extrinsics
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Transformation matrix from left image to right image.
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| Name | Field | Unit | Bytes | Note |
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| :----- | :----- | :----- | :-------- | :----- |
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| Rotation matrix | rotation[3][3] | - | 72 | double |
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| Translation vector | translation[3] | - | 24 | double |
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