Class slamcore::SensorsInfoInterface
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class SensorsInfoInterface : public SubsystemInterface
Subsystem to access information regarding sensors
Public Types
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using Ptr = std::shared_ptr<SensorsInfoInterface>
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using CPtr = std::shared_ptr<const SensorsInfoInterface>
Public Functions
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virtual ~SensorsInfoInterface() = default
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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.
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virtual ReferenceFrame getSensorReferenceFrame(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)
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virtual std::vector<SensorIDT> getCameraList() const = 0
Return the IDs for camera sensors in the system.
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virtual Vector<double, 2> getCameraSensorSize(SensorIDT sid) const = 0
Get camera sensor image dimensions.
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virtual ImageFormat getCameraImageFormat(SensorIDT sid) const = 0
Get camera sensor image format.
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virtual Vector<double, 2> getCameraFactoryFocalLength(SensorIDT sid) const = 0
Get camera sensor focal length (factory).
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virtual Vector<double, 2> getCameraFactoryPrincipalPoint(SensorIDT sid) const = 0
Get camera sensor principal point (factory).
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virtual std::string getCameraFactoryDistortionModel(SensorIDT sid) const = 0
Get camera sensor distortion model (factory).
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virtual DynamicVector getCameraFactoryDistortionParams(SensorIDT sid) const = 0
Get camera sensor distortion coefficients (factory).
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virtual Matrix<double, 4, 4> getCameraFactoryTSC(SensorIDT sid) const = 0
Get camera sensor to IMU transformation (factory).
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virtual Vector<double, 2> getCameraFocalLength(SensorIDT sid) const = 0
Get camera sensor focal length (Slamcore calibration).
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virtual Vector<double, 2> getCameraPrincipalPoint(SensorIDT sid) const = 0
Get camera sensor principal point (Slamcore calibration).
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virtual DistortionType getCameraDistortionModel(SensorIDT sid) const = 0
Get camera sensor distortion model (Slamcore calibration).
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virtual DynamicVector getCameraDistortionParams(SensorIDT sid) const = 0
Get camera sensor distortion coefficients (Slamcore calibration).
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using Ptr = std::shared_ptr<SensorsInfoInterface>