Types¶

ImuData¶

struct indem::ImuData¶

Public Members

float accel[3]¶: IMU accelerometer data for 3-axis: X, Y, Z.

float gyro[3]¶: IMU gyroscope data for 3-axis: X, Y, Z.

CameraParameter¶

struct indem::CameraParameter¶

Public Functions

inline CameraParameter resize(double ratio) const¶

The distortion parameters, size depending on the distortion model.

For us, the 4 parameters are: (k1, k2, t1, t2).

Public Members

int _width¶: 4X4 matrix from camera to imu

int _height¶: width

double _focal_length[2]¶: height

double _principal_point[2]¶: fx,fy

double _R[9]¶: cx,cy

double _P[12]¶: Rectification matrix (stereo cameras only) A rotation matrix aligning the camera coordinate system to the ideal stereo image plane so that epipolar lines in both stereo images are parallel.

double _K[9]¶: Projection/camera matrix [fx' 0 cx' Tx] P = [ 0 fy' cy' Ty] [ 0 0 1 0].

double _D[4]¶

Intrinsic camera matrix for the raw (distorted) images.

[fx 0 cx] K = [ 0 fy cy] [ 0 0 1]

IMUParameter¶

struct indem::IMUParameter¶

Public Functions

inline void printInfo()¶: Compensation parameters of gyroscope.

Public Members

double _g_max¶: a_max

double _sigma_g_c¶: g_max

double _sigma_a_c¶: sigma_g_c

double _sigma_bg¶: sigma_a_c

double _sigma_ba¶: sigma_bg

double _sigma_gw_c¶: sigma_ba

double _sigma_aw_c¶: sigma_gw_c

double _tau¶: sigma_aw_c

double _g¶: tau

double _a0[4]¶: g

double _T_BS[16]¶: a0

double _Acc[12]¶: T_BS.

double _Gyr[12]¶: Compensation parameters of accelerometer.

ModuleInfo¶

struct indem::ModuleInfo¶

Public Functions

inline void printInfo()¶: baseline

Public Members

char _designer[32]¶: id

char _fireware_version[32]¶: designer

char _hardware_version[32]¶: fireware version

char _lens[32]¶: _hardware version

char _imu[32]¶: lens

char _viewing_angle[32]¶: imu

char _baseline[32]¶: viewing angle

SlamParameter¶

struct indem::SlamParameter¶

Public Members

int _numImuFrames¶: 关键帧数量(默认为５)

int _ceres_minIterations¶: 相邻imu帧数量(默认为３)

int _ceres_maxIterations¶: 最小优化次数(默认为３)

double _ceres_timeLimit¶: 最大优化次数(默认为４)

int detection_threshold¶: ceres　time　limit(默认为3.5000000000000003e-02)

int detection_octaves¶: 角点阈值(默认为30)

int detection_maxNoKeypoints¶: detection octaves(默认为0)

bool displayImages¶: 最大角点数量(默认为100)

MoudleAllParam¶

struct indem::MoudleAllParam¶

Public Members

std::map<RESOLUTION, CameraParameter> _right_camera¶: CameraParameter of left cameras.

int _camera_channel = 1¶: CameraParameter of right cameras.

double _baseline = 0.12¶: camera channel

IMUParameter _imu¶: baseline

ModuleInfo _device¶: IMU parameter.

SlamParameter _slam¶: device info

ModuleParameters¶

struct indem::ModuleParameters¶

Public Members

IMUParameter _imu¶: CameraParameter of cameras.

ModuleInfo _device¶: IMU parameter.

SlamParameter _slam¶: device info

BoxInfo¶

struct indem::BoxInfo¶

Public Members

float score¶: box

float cx¶: reliability score

float cy¶: cx

float width¶: cy

float height¶: width

CLASS_NAME class_name¶: height

int index¶: class

InstanceInfo¶

struct indem::InstanceInfo¶

Public Members

int instance_id¶: class

float location[3]¶: instance id

float location_cam[3]¶: location:xyz

float time¶: camera coords

float scale¶: time

cv::Rect box¶: scale

int _count¶: box

float front_face_points[3][3]¶: count

float rear_face_points[3][3]¶: front face points

bool visible¶: rear face points

int class_count = 0¶: visible

bool valid¶: class count

float cx¶: valid

float cy¶: cx

float depth¶: cy

DetectorInfo¶

struct indem::DetectorInfo¶

Public Members

cv::Mat img¶: time stamp

std::vector<BoxInfo> finalBoxInfo¶: mat of image