toolbox::io::kitti_calibration_t< DataType > Struct Template Reference

KITTI calibration data structure. More...

#include <kitti_extended.hpp>

Public Attributes
Eigen::Matrix< DataType, 4, 4 >	Tr_velo_to_cam
	Transformation from Velodyne to camera 0 rectified coordinates.
Eigen::Matrix< DataType, 3, 4 >	P0
	Projection matrices for cameras 0-3 after rectification.
Eigen::Matrix< DataType, 3, 4 >	P1
Eigen::Matrix< DataType, 3, 4 >	P2
Eigen::Matrix< DataType, 3, 4 >	P3
Eigen::Matrix< DataType, 3, 3 >	R0_rect
	Rectification rotation matrix for camera 0.
std::optional< Eigen::Matrix< DataType, 4, 4 > >	Tr_imu_to_velo
	Transformation from IMU to Velodyne.

Detailed Description

template<typename DataType>
struct toolbox::io::kitti_calibration_t< DataType >

KITTI calibration data structure.

Member Data Documentation

P0

template<typename DataType >

Eigen::Matrix<DataType, 3, 4> toolbox::io::kitti_calibration_t< DataType >::P0

Projection matrices for cameras 0-3 after rectification.

P1

template<typename DataType >

Eigen::Matrix<DataType, 3, 4> toolbox::io::kitti_calibration_t< DataType >::P1

P2

template<typename DataType >

Eigen::Matrix<DataType, 3, 4> toolbox::io::kitti_calibration_t< DataType >::P2

P3

template<typename DataType >

Eigen::Matrix<DataType, 3, 4> toolbox::io::kitti_calibration_t< DataType >::P3

R0_rect

template<typename DataType >

Eigen::Matrix<DataType, 3, 3> toolbox::io::kitti_calibration_t< DataType >::R0_rect

Rectification rotation matrix for camera 0.

Tr_imu_to_velo

template<typename DataType >

std::optional<Eigen::Matrix<DataType, 4, 4> > toolbox::io::kitti_calibration_t< DataType >::Tr_imu_to_velo

Transformation from IMU to Velodyne.

Tr_velo_to_cam

template<typename DataType >

Eigen::Matrix<DataType, 4, 4> toolbox::io::kitti_calibration_t< DataType >::Tr_velo_to_cam

Transformation from Velodyne to camera 0 rectified coordinates.

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

• src/include/cpp-toolbox/io/formats/kitti_extended.hpp