#include <MultiSenseTypes.hh>

Public Types
enum class	DistortionType : uint8_t { NONE , PLUMBBOB , RATIONAL_POLYNOMIAL }
	Distortion type. More...

Public Member Functions
std::array< float, 3 >	rectified_translation () const
	Get the translation vector in meters which translates points in the current CameraCalibration frame to the origin left camera frame.

Public Attributes
std::array< std::array< float, 3 >, 3 >	K {{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}}
	Unrectified camera projection matrix stored in row-major ordering.

std::array< std::array< float, 3 >, 3 >	R {{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}}
	Rotation matrix which takes points in the unrectified camera frame and transform them in to the rectified coordinate frame.

std::array< std::array< float, 4 >, 3 >	P {{{0.0f, 0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f, 0.0f}}}
	Rectified projection matrix which takes points in the origin camera coordinate frame and projects them into the current camera.

DistortionType	distortion_type = DistortionType::NONE
	The type of the distortion model used for the unrectified camera.

std::vector< float >	D = {}
	Coefficients for the distortion model.

Detailed Description

Definition at line 116 of file MultiSenseTypes.hh.

Member Enumeration Documentation

◆ DistortionType

enum class multisense::CameraCalibration::DistortionType : uint8_t

strong

Distortion type.

Enumerator
NONE
PLUMBBOB
RATIONAL_POLYNOMIAL

Definition at line 121 of file MultiSenseTypes.hh.

Member Function Documentation

◆ rectified_translation()

std::array< float, 3 > multisense::CameraCalibration::rectified_translation ( ) const

inline

Get the translation vector in meters which translates points in the current CameraCalibration frame to the origin left camera frame.

Definition at line 159 of file MultiSenseTypes.hh.

Member Data Documentation

◆ D

std::vector<float> multisense::CameraCalibration::D = {}

Coefficients for the distortion model.

Definition at line 153 of file MultiSenseTypes.hh.

◆ distortion_type

DistortionType multisense::CameraCalibration::distortion_type = DistortionType::NONE

The type of the distortion model used for the unrectified camera.

Definition at line 148 of file MultiSenseTypes.hh.

◆ K

std::array<std::array<float, 3>, 3> multisense::CameraCalibration::K {{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}}

Unrectified camera projection matrix stored in row-major ordering.

Definition at line 131 of file MultiSenseTypes.hh.

◆ P

std::array<std::array<float, 4>, 3> multisense::CameraCalibration::P {{{0.0f, 0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f, 0.0f}}}

Rectified projection matrix which takes points in the origin camera coordinate frame and projects them into the current camera.

Definition at line 143 of file MultiSenseTypes.hh.

◆ R

std::array<std::array<float, 3>, 3> multisense::CameraCalibration::R {{{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}}

Rotation matrix which takes points in the unrectified camera frame and transform them in to the rectified coordinate frame.

Definition at line 137 of file MultiSenseTypes.hh.

The documentation for this struct was generated from the following file:

/home/malvarado/crl/LibMultiSense/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh

Public Types

Public Member Functions

Public Attributes