MYNTAI MYNT EYE D-Series, Documentation

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MYNT EYE D SDK Documentation, Release 1.8.0
7.4.2 Calib
CameraIntrinsics
struct CameraIntrinsics
Camera intrinsics: size, coeffs and camera matrix.
Public Members
std::uint16_t width
The width of the image in pixels.
std::uint16_t
height
The height of the image in pixels.
double
fx
The focal length of the image plane, as a multiple of pixel width.
double
fy
The focal length of the image plane, as a multiple of pixel height.
double
cx
The horizontal coordinate of the principal point of the image.
double
cy
The vertical coordinate of the principal point of the image.
double coeffs [5]
The distortion coefficients: k1,k2,p1,p2,k3.
double
p
[12]
3x4 projection matrix in the (rectified) coordinate systems left: fx’ cx’ fy’ cy’ 1 right: fx’ cx’ tx fy’ cy’ 1
double
r
[9]
3x3 rectification transform (rotation matrix) for the left camera.
StreamIntrinsics
struct StreamIntrinsics
Camera
intrinsics: size, coeffs and camera matrix.
ImuIntrinsics
struct ImuIntrinsics
IMU intrinsics: scale, drift and variances.
Public Members
double
scale
[3][3]
Scale matrix.
Scale X cross axis cross axis
cross axis Scale Y cross axis
cross axis cross axis Scale Z
7.4. Types 89