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Class slamcore::CameraSensorsInfoInterface

class CameraSensorsInfoInterface : public SubsystemInterface

Subsystem to access factory camera calibration.

Public Types

using Ptr = std::shared_ptr<CameraSensorsInfoInterface>

using CPtr = std::shared_ptr<const CameraSensorsInfoInterface>

Public Functions

inline virtual SubsystemType type() const

Type of the object.

virtual ~CameraSensorsInfoInterface() = default

virtual std::vector<SensorIDT> getCameraList() const = 0

Return the IDs for camera sensors in the system.

virtual Vector getCameraSensorSize(const SensorIDT sid) const = 0

Get camera sensor image dimensions.

virtual ImageFormat getCameraImageFormat(const SensorIDT sid) const = 0

Get camera sensor image format.

virtual Vector getCameraFactoryFocalLength(const SensorIDT sid) const = 0

Get camera sensor focal length (factory).

virtual Vector getCameraFactoryPrincipalPoint(const SensorIDT sid) const = 0

Get camera sensor principal point (factory).

virtual std::string getCameraFactoryDistortionModel(const SensorIDT sid) const = 0

Get camera sensor distortion model (factory).

virtual Vector getCameraFactoryDistortionParams(const SensorIDT sid) const = 0

Get camera sensor distortion coefficients (factory).

virtual Matrix getCameraFactoryTSC(const SensorIDT sid) const = 0

Get camera sensor to IMU transformation (factory).

Public Static Attributes

static constexpr SubsystemType Type = SubsystemType::CameraSensorsInfo