cam_info Struct Reference

Camera information and calibration data. More...

#include <VoxlCommon.h>

Public Attributes
char	name [128]
	Camera name identifier.
char	tracking_name [128]
	Name used for tracking operations.
char	preview_name [128]
	Name used for preview/display.
camera_mode	mode
	Camera operation mode.
Eigen::Matrix< double, 7, 1 >	cam_wrt_imu
	Camera pose relative to IMU (quaternion + position)
Eigen::Matrix< double, 8, 1 >	cam_calib_intrinsic
	Camera intrinsic calibration parameters.
int	width
	Image width in pixels.
int	height
	Image height in pixels.
bool	is_fisheye
	Flag indicating if camera uses fisheye lens.
bool	is_occluded_on_takeoff
	Flag indicating if camera is occluded on takeoff.
size_t	cam_id
	Unique camera identifier.

Detailed Description

Camera information and calibration data.

This structure contains all the configuration and calibration information for a single camera in the VIO system, including intrinsic parameters, extrinsic parameters, and operational settings.

Definition at line 197 of file VoxlCommon.h.

Member Data Documentation

cam_calib_intrinsic

Eigen::Matrix<double, 8, 1> cam_info::cam_calib_intrinsic

Camera intrinsic calibration parameters.

Definition at line 204 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

cam_id

size_t cam_info::cam_id

Unique camera identifier.

Definition at line 209 of file VoxlCommon.h.

Referenced by voxl::CameraBase::get_id(), and voxl::sync_cam_config().

cam_wrt_imu

Eigen::Matrix<double, 7, 1> cam_info::cam_wrt_imu

Camera pose relative to IMU (quaternion + position)

Definition at line 203 of file VoxlCommon.h.

height

int cam_info::height

Image height in pixels.

Definition at line 206 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

is_fisheye

bool cam_info::is_fisheye

Flag indicating if camera uses fisheye lens.

Definition at line 207 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

is_occluded_on_takeoff

bool cam_info::is_occluded_on_takeoff

Flag indicating if camera is occluded on takeoff.

Definition at line 208 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

mode

camera_mode cam_info::mode

Camera operation mode.

Definition at line 202 of file VoxlCommon.h.

Referenced by voxl::CameraManager::initialize(), and voxl::sync_cam_config().

name

char cam_info::name[128]

Camera name identifier.

Definition at line 199 of file VoxlCommon.h.

Referenced by voxl::CameraBase::connect(), voxl::CameraBase::disconnect(), voxl::CameraManager::initialize(), and voxl::sync_cam_config().

preview_name

char cam_info::preview_name[128]

Name used for preview/display.

Definition at line 201 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

tracking_name

char cam_info::tracking_name[128]

Name used for tracking operations.

Definition at line 200 of file VoxlCommon.h.

Referenced by voxl::CameraBase::connect(), and voxl::sync_cam_config().

width

int cam_info::width

Image width in pixels.

Definition at line 205 of file VoxlCommon.h.

Referenced by voxl::sync_cam_config().

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

• VoxlCore/VoxlCommon.h