The open source OpenXR runtime
external/slam: Improve cam_calibration feature struct
+16
-11
+16
-11
src/external/slam_tracker/slam_tracker.hpp
+16
-11
src/external/slam_tracker/slam_tracker.hpp
···
27
27
28
28
// For implementation: same as IMPLEMENTATION_VERSION_*
29
29
// For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
30
-
constexpr int HEADER_VERSION_MAJOR = 2; //!< API Breakages
30
+
constexpr int HEADER_VERSION_MAJOR = 3; //!< API Breakages
31
31
constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes
32
32
constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes
33
33
···
185
185
constexpr int FID_##SHORT_NAME = ID; \
186
186
constexpr int F_##NAME = ID;
187
187
188
+
/*!
189
+
* Container of parameters for a pinhole camera calibration (fx, fy, cx, cy)
190
+
* with an optional distortion.
191
+
*
192
+
*`distortion_model` and its corresponding `distortion` parameters are not
193
+
* standardized in this struct to facilitate implementation prototyping.
194
+
*/
188
195
struct cam_calibration {
189
-
enum class cam_model { pinhole, fisheye };
190
-
191
196
int cam_index; //!< For multi-camera setups. For stereo 0 ~ left, 1 ~ right.
192
-
int width, height; //<! Resolution
193
-
double frequency; //<! Frames per second
194
-
double fx, fy; //<! Focal point
195
-
double cx, cy; //<! Principal point
196
-
cam_model model;
197
-
std::vector<double> model_params;
198
-
cv::Matx<double, 4, 4> T_cam_imu; //!< Transformation from camera to imu space
197
+
int width, height; //<! Resolution
198
+
double frequency; //<! Frames per second
199
+
double fx, fy; //<! Focal point
200
+
double cx, cy; //<! Principal point
201
+
std::string distortion_model; //!< Models like: none, rt4, rt5, rt8, kb4
202
+
std::vector<double> distortion; //!< Parameters for the distortion_model
203
+
cv::Matx<double, 4, 4> t_imu_cam; //!< Transformation from IMU to camera
199
204
};
200
205
201
206
struct inertial_calibration {
···
204
209
//! This transform will be applied to raw measurements.
205
210
cv::Matx<double, 3, 3> transform;
206
211
207
-
//! Offset to apply to raw measurements to; called bias in other contexts.
212
+
//! Offset to add to raw measurements to; called bias in other contexts.
208
213
cv::Matx<double, 3, 1> offset;
209
214
210
215
// Parameters for the random processes that model this IMU. See section "2.1