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external/slam: Improve cam_calibration feature struct

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Mateo de Mayo 2022-05-23 11:04:42 -03:00
parent 3bf07a2711
commit dad70ab7d0
1 changed files with 16 additions and 11 deletions
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27
src/external/slam_tracker/slam_tracker.hpp vendored
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@ -27,7 +27,7 @@ namespace xrt::auxiliary::tracking::slam {
// For implementation: same as IMPLEMENTATION_VERSION_*
// For user: expected IMPLEMENTATION_VERSION_*. Should be checked in runtime.
constexpr int HEADER_VERSION_MAJOR = 2; //!< API Breakages
constexpr int HEADER_VERSION_MAJOR = 3; //!< API Breakages
constexpr int HEADER_VERSION_MINOR = 0; //!< Backwards compatible API changes
constexpr int HEADER_VERSION_PATCH = 0; //!< Backw. comp. .h-implemented changes
@ -185,17 +185,22 @@ private:
constexpr int FID_##SHORT_NAME = ID; \
constexpr int F_##NAME = ID;
/*!
* Container of parameters for a pinhole camera calibration (fx, fy, cx, cy)
* with an optional distortion.
*
*`distortion_model` and its corresponding `distortion` parameters are not
* standardized in this struct to facilitate implementation prototyping.
*/
struct cam_calibration {
enum class cam_model { pinhole, fisheye };
int cam_index; //!< For multi-camera setups. For stereo 0 ~ left, 1 ~ right.
int width, height; //<! Resolution
double frequency; //<! Frames per second
double fx, fy; //<! Focal point
double cx, cy; //<! Principal point
cam_model model;
std::vector<double> model_params;
cv::Matx<double, 4, 4> T_cam_imu; //!< Transformation from camera to imu space
int width, height; //<! Resolution
double frequency; //<! Frames per second
double fx, fy; //<! Focal point
double cx, cy; //<! Principal point
std::string distortion_model; //!< Models like: none, rt4, rt5, rt8, kb4
std::vector<double> distortion; //!< Parameters for the distortion_model
cv::Matx<double, 4, 4> t_imu_cam; //!< Transformation from IMU to camera
};
struct inertial_calibration {
@ -204,7 +209,7 @@ struct inertial_calibration {
//! This transform will be applied to raw measurements.
cv::Matx<double, 3, 3> transform;
//! Offset to apply to raw measurements to; called bias in other contexts.
//! Offset to add to raw measurements to; called bias in other contexts.
cv::Matx<double, 3, 1> offset;
// Parameters for the random processes that model this IMU. See section "2.1