reusex::core::SensorIntrinsics Struct Reference

Lightweight camera intrinsics replacing rtabmap::CameraModel in downstream code. More...

#include <SensorIntrinsics.hpp>

Collaboration diagram for reusex::core::SensorIntrinsics:

Public Member Functions
std::string	to_json () const
	Serialize to JSON string for storage in ProjectDB.

Static Public Member Functions
static SensorIntrinsics	from_json (const std::string &json)
	Deserialize from JSON string. Returns default-constructed on failure.

Public Attributes
double	fx = 0
double	fy = 0
double	cx = 0
double	cy = 0
int	width = 0
int	height = 0
std::array< double, 16 >	local_transform
	4x4 row-major local transform (camera frame to robot/sensor base frame).

Detailed Description

Lightweight camera intrinsics replacing rtabmap::CameraModel in downstream code.

Stores pinhole parameters plus the 4x4 camera-to-base transform.

Definition at line 14 of file SensorIntrinsics.hpp.

Member Function Documentation

from_json()

SensorIntrinsics reusex::core::SensorIntrinsics::from_json ( const std::string & json )

static

Deserialize from JSON string. Returns default-constructed on failure.

to_json()

std::string reusex::core::SensorIntrinsics::to_json

(

)

const

Serialize to JSON string for storage in ProjectDB.

Member Data Documentation

cx

double reusex::core::SensorIntrinsics::cx = 0

Definition at line 15 of file SensorIntrinsics.hpp.

cy

double reusex::core::SensorIntrinsics::cy = 0

Definition at line 15 of file SensorIntrinsics.hpp.

fx

double reusex::core::SensorIntrinsics::fx = 0

Definition at line 15 of file SensorIntrinsics.hpp.

fy

double reusex::core::SensorIntrinsics::fy = 0

Definition at line 15 of file SensorIntrinsics.hpp.

height

int reusex::core::SensorIntrinsics::height = 0

Definition at line 16 of file SensorIntrinsics.hpp.

local_transform

std::array<double, 16> reusex::core::SensorIntrinsics::local_transform

Initial value:

= {1, 0, 0, 0, 0, 1, 0, 0,
                0, 0, 1, 0, 0, 0, 0, 1}

4x4 row-major local transform (camera frame to robot/sensor base frame).

Definition at line 18 of file SensorIntrinsics.hpp.

width

int reusex::core::SensorIntrinsics::width = 0

Definition at line 16 of file SensorIntrinsics.hpp.

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

• libs/reusex/include/core/SensorIntrinsics.hpp