Class Extrinsics

Inheritance Relationships

Base Type

Class Documentation

class Extrinsics : public ouster::sdk::osf::MetadataEntryHelper<Extrinsics>

Metadata entry to store sensor Extrinsics.

OSF type: ouster/v1/os_sensor/Extrinsics

Flat Buffer Reference: fb/os_sensor/extrinsics.fbs

Public Functions

explicit Extrinsics(const ouster::sdk::core::mat4d &extrinsics, uint32_t ref_meta_id = 0, const std::string &name = "")
Parameters:

  • extrinsics[in] – ///< The extrinsic matrix to store ///< mat4d - 4x4 homogeneous transform

  • ref_meta_id[in] – The flat buffer metadata(not sensor_info) reference id

  • name[in] – ///< Named id if needed, to support multiple extrinsics ///< perobject (i.e. LidarSensor, or Gps) with name ///< maybe usedto associate extrinsics to some external ///< system of records or just name the source ///< originator of the extrinsics information.

const ouster::sdk::core::mat4d &extrinsics() const

Get the extrinsics matrix.

Returns:

The eigen extrinsics matrix.

const std::string &name() const

Get the extrinsics name.

Returns:

The extrinsics name.

uint32_t ref_meta_id() const

Get the reference metadata id.

Returns:

The reference metadata id.

virtual std::vector<uint8_t> buffer() const final

Byte represantation of the internal derived metadata type, used as serialization function when saving to OSF file.

Returns:

The byte vector representation of the metadata.

static std::unique_ptr<MetadataEntry> from_buffer(const OsfBuffer buf)

Create an Extrinsics object from a byte array.

Parameters:

buf[in] – The byte vector to construct an Extrinsics object from.

Returns:

The new Extrinsics cast as a MetadataEntry

virtual std::string repr() const override

Get the string representation for the Extrinsics object.

Returns:

The string representation for the Extrinsics object.