14 #ifndef MYNTEYE_STUBS_TYPES_CALIB_H_ 15 #define MYNTEYE_STUBS_TYPES_CALIB_H_ 20 #include "mynteyed/stubs/global.h" 22 MYNTEYE_BEGIN_NAMESPACE
77 double assembly[3][3];
101 std::ostream &operator<<(std::ostream &os,
const ImuIntrinsics &in);
120 double rotation[3][3];
121 double translation[3];
128 return {{{rotation[0][0], rotation[1][0], rotation[2][0]},
129 {rotation[0][1], rotation[1][1], rotation[2][1]},
130 {rotation[0][2], rotation[1][2], rotation[2][2]}},
131 {-translation[0], -translation[1], -translation[2]}};
136 std::ostream &operator<<(std::ostream &os,
const Extrinsics &ex);
142 using StreamExtrinsics = Extrinsics;
147 using MotionExtrinsics = Extrinsics;
149 MYNTEYE_END_NAMESPACE
151 #endif // MYNTEYE_STUBS_TYPES_CALIB_H_ double fy
The focal length of the image plane, as a multiple of pixel height.
Definition: types_calib.h:36
Extrinsics, represent how the different datas are connected.
Definition: types_calib.h:119
double fx
The focal length of the image plane, as a multiple of pixel width.
Definition: types_calib.h:34
ImuIntrinsics accel
Accelerometer intrinsics.
Definition: types_calib.h:108
Extrinsics Inverse() const
Inverse this extrinsics.
Definition: types_calib.h:127
std::uint16_t width
The width of the image in pixels.
Definition: types_calib.h:30
Motion intrinsics, including accelerometer and gyroscope.
Definition: types_calib.h:107
ImuIntrinsics gyro
Gyroscope intrinsics.
Definition: types_calib.h:109
double cy
The vertical coordinate of the principal point of the image.
Definition: types_calib.h:40
std::uint16_t height
The height of the image in pixels.
Definition: types_calib.h:32
Camera intrinsics: size, coeffs and camera matrix.
Definition: types_calib.h:57
IMU intrinsics: scale, drift and variances.
Definition: types_calib.h:66
double cx
The horizontal coordinate of the principal point of the image.
Definition: types_calib.h:38
Camera intrinsics: size, coeffs and camera matrix.
Definition: types_calib.h:28