multisense::CameraCalibration Struct Reference

#include <MultiSenseTypes.hh>

Public Types
enum	DistortionType : uint8_t { DistortionType::NONE, DistortionType::PLUMBBOB, DistortionType::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. More...

Public Attributes
std::vector< float >	D = {}
	Coefficients for the distortion model. More...
DistortionType	distortion_type = DistortionType::NONE
	The type of the distortion model used for the unrectified camera. More...
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. More...
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. More...
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. More...

Detailed Description

Definition at line 115 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Enumeration Documentation

DistortionType

enum multisense::CameraCalibration::DistortionType : uint8_t

strong

Distortion type.

Enumerator
NONE
PLUMBBOB
RATIONAL_POLYNOMIAL

Definition at line 120 of file LibMultiSense/include/MultiSense/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 158 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

Member Data Documentation

D

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

Coefficients for the distortion model.

Definition at line 152 of file LibMultiSense/include/MultiSense/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 147 of file LibMultiSense/include/MultiSense/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 130 of file LibMultiSense/include/MultiSense/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 142 of file LibMultiSense/include/MultiSense/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 136 of file LibMultiSense/include/MultiSense/MultiSenseTypes.hh.

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

• LibMultiSense/include/MultiSense/MultiSenseTypes.hh