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Class slamcore::SensorsInfoInterface

class SensorsInfoInterface : public SubsystemInterface

Subsystem to access information regarding sensors

Public Types

using Ptr = std::shared_ptr<SensorsInfoInterface>
using CPtr = std::shared_ptr<const SensorsInfoInterface>

Public Functions

virtual ~SensorsInfoInterface() = default
virtual std::unique_ptr<StaticPoseInterface> getStaticTransform(const ReferenceFrame &destination, const ReferenceFrame &origin) const = 0

Get the transform T_DO from the origin to the destination reference frame.

virtual ReferenceFrame getSensorReferenceFrame(const SensorIDT sid) const = 0

Get a sensors frame of reference.

Parameters

sensorID – the sensor to query for its frame of reference

Returns

ReferenceFrame the reference frame (default initialised if not found)

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

Return the IDs for camera sensors in the system.

virtual Vector<double, 2> 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<double, 2> getCameraFactoryFocalLength(const SensorIDT sid) const = 0

Get camera sensor focal length (factory).

virtual Vector<double, 2> 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 DynamicVector getCameraFactoryDistortionParams(const SensorIDT sid) const = 0

Get camera sensor distortion coefficients (factory).

virtual Matrix<double, 4, 4> getCameraFactoryTSC(const SensorIDT sid) const = 0

Get camera sensor to IMU transformation (factory).

virtual Vector<double, 2> getCameraFocalLength(const SensorIDT sid) const = 0

Get camera sensor focal length (Slamcore calibration).

virtual Vector<double, 2> getCameraPrincipalPoint(const SensorIDT sid) const = 0

Get camera sensor principal point (Slamcore calibration).

virtual DistortionType getCameraDistortionModel(const SensorIDT sid) const = 0

Get camera sensor distortion model (Slamcore calibration).

virtual DynamicVector getCameraDistortionParams(const SensorIDT sid) const = 0

Get camera sensor distortion coefficients (Slamcore calibration).

virtual Matrix<double, 4, 4> getCameraTSC(const SensorIDT sid) const = 0

Get camera sensor pose in IMU reference frame (Slamcore calibration).