image_data
描述: 定义图像的数据结构。每个方向的深度图与双目灰度图中的左图对齐。
typedef struct _image_data
{
unsigned int frame_index; // frame index
unsigned int time_stamp; // time stamp of image captured in ms
char *m_greyscale_image_left[CAMERA_PAIR_NUM];// greyscale image of left camera
char *m_greyscale_image_right[CAMERA_PAIR_NUM]; // greyscale image of right camera
char *m_depth_image[CAMERA_PAIR_NUM]; // depth image in *128 meters
char *m_disparity_image[CAMERA_PAIR_NUM]; // disparity image in *16 pixels
}image_data;解释:
1、m_greyscale_image_left和m_greyscale_image_right都是宽320，高240的8比特灰度图。
2、m_depth_image是宽320，高240的16比特深度图，每两个字节描述一个点的深度，低7位为小数位，高9位为整数位。
3、m_disparity_image是宽320，高240的16比特视差图，每两个字节描述一个点的深度，低4位为小数位，高12位为整数位。
VI、ultrasonic_data
描述: 定义超声波的数据结构。ultrasonic是超声波传感器检测到的最近物体的距离，单位是mm。reliability是该距离测量的可信度，1为可信，0为不可信。由于观测数据存在噪声，建议对数据进行滤波后再使用。
typedef struct _ultrasonic_data
{
unsigned int frame_index; // corresponse frame index
unsigned int time_stamp; // time stamp of corresponse image captured in ms
short ultrasonic[CAMERA_PAIR_NUM]; // distance in mm. -1 means invalid measurement.
unsigned short reliability[CAMERA_PAIR_NUM]; // reliability of the distance data
}ultrasonic_data;VII、velocity
描述: 定义体坐标系下的速度。单位是mm/s。
typedef struct _velocity
{
unsigned int frame_index; // corresponse frame index
unsigned int time_stamp; // time stamp of corresponse image captured in ms
short vx; // velocity of x in mm/s
short vy; // velocity of y in mm/s
short vz; // velocity of z in mm/s
}velocity;VIII、obstacle_distance
描述: 定义由视觉和超声波融合得到的障碍物距离。单位是cm。
typedef struct _obstacle_distance
{
unsigned int frame_index; // corresponse frame index
unsigned int time_stamp; // time stamp of corresponse image captured in ms
unsigned short distance[CAMERA_PAIR_NUM]; // distance of obstacle in cm
}obstacle_distance;IX、imu
描述: 定义IMU数据结构。加速度单位为m/s^2
typedef struct _imu
{
unsigned int frame_index; //相应的帧索引
unsigned int time_stamp; //以ms为单位捕获的对应图像的时间戳
float acc_x; // acceleration of x in unit of m/s^2
float acc_y; // acceleration of y in unit of m/s^2
float acc_z; // acceleration of z in unit of m/s^2
float q[4]; // quaternion: [w,x,y,z]
}imu;X、stereo_cali
描述: 摄像头的标定参数。如果某个方向的传感器不在线，则所有值为0.
typedef struct _stereo_cali
{
float cu; // 焦点中心的x位置，以像素为单位
float cv; // 焦点中心的y位置，以像素为单位
float focal; // 焦距以像素为单位
float baseline; // 以米为单位的立体相机基线
_stereo_cali() { }
_stereo_cali(float _cu, float _cv, float _focal, float _baseline)
{
cu = _cu, cv = _cv;
focal = _focal, baseline = _baseline;
}
}stereo_cali;XI、exposure_param
描述: 摄像头的曝光参数。当m_expo_time = m_expected_brightness=0时，变成默认的自动曝光控制
typedef struct _exposure_param
{
float m_step; // 自动曝光控制（AEC）的调整步骤。 默认值为10。
float m_exposure_time;// 持续曝光时间以微秒为单位。 范围是0.1~20。 默认值为7.25。
unsigned int m_expected_brightness; // AEC的恒定预期亮度。 范围是50~200。 默认值为85。
unsigned int m_is_auto_exposure; // 1：自动曝光; 0：持续曝光
int m_camera_pair_index; // index of Guidance Sensor
_exposure_param(){
m_step = 10;
m_exposure_time = 7.68;
m_expected_brightness = 85;
m_is_auto_exposure = 1;
m_camera_pair_index = 1;
}
}exposure_param;XII、motion
描述: 定义全局位置数据结构。位置单位为m，速度单位为m/s.
typedef struct _motion
{
unsigned int frame_index;
unsigned int time_stamp;
int corresponding_imu_index;
float q0;
float q1;
float q2;
float q3;
int attitude_status; // 0:invalid; 1:valid
float position_in_global_x; // position in global frame: x
float position_in_global_y; // position in global frame: y
float position_in_global_z; // position in global frame: z
int position_status; // lower 3 bits are confidence. 0:invalid; 1:valid
float velocity_in_global_x; // velocity in global frame: x
float velocity_in_global_y; // velocity in global frame: y
float velocity_in_global_z; // velocity in global frame: z
int velocity_status; // lower 3 bits are confidence. 0:invalid; 1:valid
float reserve_float[8];
int reserve_int[4];
float uncertainty_location[3];// uncertainty of position
float uncertainty_velocity[3];// uncertainty of velocity
} motion;