Struct Extrinsics

Struct Documentation

struct Extrinsics

Extrinsics structure.

Public Functions

Extrinsics() = default
Extrinsics(std::vector<std::vector<float>> rotationMatrix, Point3f translation, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit = LengthUnit::CENTIMETER)
Extrinsics(const std::vector<std::vector<float>> &extrinsicsMatrix, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit = LengthUnit::CENTIMETER)
Extrinsics(std::array<std::array<float, 4>, 4> &extrinsicsMatrix, CameraBoardSocket toCameraSocket, LengthUnit lengthUnit = LengthUnit::CENTIMETER)
std::vector<std::vector<float>> getRotationMatrix() const

Get the extrinsic rotation matrix in array format.

Returns:

3x3 rotation matrix as a 2D array

std::vector<std::vector<float>> getInverseRotationMatrix() const

Get the inverse extrinsic rotation matrix in array format.

Returns:

3x3 inverse rotation matrix as a 2D array

std::array<std::array<float, 4>, 4> getTransformationMatrix(bool useSpecTranslation = false, LengthUnit unit = LengthUnit::CENTIMETER) const

Get the Camera Extrinsics

object to the toCameraSocket.

The returned matrix has the following layout:

[ r00 r01 r02 Tx ]
[ r10 r11 r12 Ty ]
[ r20 r21 r22 Tz ]
[  0   0   0  1 ]

Note

The full transformation matrix can only be obtained if both the rotation matrix and the translation vector are set.

Parameters:

  • useSpecTranslation – Set to true to force using spec translation

  • unit – Units of the returned translation vector

Returns:

4x4 homogeneous transformation matrix

std::array<std::array<float, 4>, 4> getInverseTransformationMatrix(bool useSpecTranslation = false, LengthUnit unit = LengthUnit::CENTIMETER) const

Get the inverse of the extrinsic transformation matrix which is equal to the transformation from the toCameraSocket to the current camera socket.

Parameters:

  • useSpecTranslation – Set to true to force using spec translation

  • unit – Units of the returned translation vector

Returns:

a transformationMatrix which is 4x4 in homogeneous coordinate system

void setTransformationMatrix(const std::vector<std::vector<float>> &matrix, LengthUnit unit = LengthUnit::CENTIMETER)

Set the extrinsic transformation matrix.

The matrix must have the following layout:

[ r00 r01 r02 Tx ]
[ r10 r11 r12 Ty ]
[ r20 r21 r22 Tz ]
[  0   0   0  1 ]

Parameters:

  • matrix – 4x4 homogeneous transformation matrix

  • unit – Units of the translation components Tx, Ty, and Tz

void setTransformationMatrix(const std::array<std::array<float, 4>, 4> &matrix, LengthUnit unit = LengthUnit::CENTIMETER)

Set the extrinsic transformation matrix.

The matrix must have the following layout:

[ r00 r01 r02 Tx ]
[ r10 r11 r12 Ty ]
[ r20 r21 r22 Tz ]
[  0   0   0  1 ]

Parameters:

  • matrix – 4x4 homogeneous transformation matrix

  • unit – Units of the translation components Tx, Ty, and Tz

void setTranslationVector(const dai::Point3f &translationVector, LengthUnit unit = LengthUnit::CENTIMETER, bool useSpecTranslation = false)

Set the translation vector

Parameters:

  • translationVector – The translation vector to set

  • unit – Units of the provided translation vector

  • useSpecTranslation – Set to true to force setting spec translation

std::vector<float> getTranslationVector(bool useSpecTranslation = false, LengthUnit unit = LengthUnit::CENTIMETER) const

Get the translation vector

Parameters:

unit – Units of the returned translation vector

Returns:

translation vector in specified units

bool isEqualExtrinsics(const Extrinsics &other, float epsilon = 1e-6f) const

Two Extrinsics objects are equal if their rotation matrices and translation vectors are equal (within a small epsilon).

Parameters:

  • other – The other Extrinsics object to compare with

  • epsilon – The tolerance for comparing floating-point values

Returns:

true if the Extrinsics objects are equal, false otherwise

std::array<std::array<float, 4>, 4> getExtrinsicsTransformationTo(const Extrinsics &to, bool useSpecTranslation = false, LengthUnit sourceUnit = LengthUnit::CENTIMETER) const

Get the extrinsic transformation matrix from this Extrinsics to the target Extrinsics.

Parameters:

  • to – The target Extrinsics to get the transformation matrix to

  • useSpecTranslation – Set to true to force using spec translation

  • sourceUnit – Units of the translation vector in the source Extrinsics (this). Only relevant if useSpecTranslation is false.

Returns:

a transformationMatrix which is 4x4 in homogeneous coordinate system

DEPTHAI_SERIALIZE_OPTIONAL(Extrinsics, rotationMatrix, translation, specTranslation, toCameraSocket, lengthUnit)

Public Members

std::vector<std::vector<float>> rotationMatrix
Point3f translation

(x, y, z) pose of destCameraSocket w.r.t currentCameraSocket obtained through calibration

Point3f specTranslation

(x, y, z) pose of destCameraSocket w.r.t currentCameraSocket measured through CAD design

CameraBoardSocket toCameraSocket = CameraBoardSocket::AUTO

The destination camera socket for which these extrinsics are defined.

LengthUnit lengthUnit = LengthUnit::CENTIMETER

The distance unit for the translation vector.