Struct Rs2MotionDeviceIntrinsics

pub struct Rs2MotionDeviceIntrinsics(pub rs2_motion_device_intrinsic);

Newtype wrapper for RealSense motion device intrinsics

Tuple Fields

0: rs2_motion_device_intrinsic

Implementations

impl Rs2MotionDeviceIntrinsics

Profile the scale, bias, and variances for a given motion device

The bias and scale factors are stored as one large matrix; see the documentation on data() for the correct way to retrieve these parameters.

Use the function stream_profile.motion_intrinsics() to retrieve these intrinsics from a certain stream.

pub fn data(&self) -> [[f32; 4]; 3]

A 3x4 matrix describing the scale and bias intrinsics of the motion device.

This matrix is stored internally like so: [ Scale X | cross axis | cross axis | Bias X ] [ cross axis | Scale Y | cross axis | Bias Y ] [ cross axis | cross axis | Scale Z | Bias Z ]

pub fn noise_variances(&self) -> [f32; 3]

Variance of noise for X, Y, and Z axis.

pub fn bias_variances(&self) -> [f32; 3]

Variance of bias for X, Y, and Z axis.

Trait Implementations

impl Debug for Rs2MotionDeviceIntrinsics

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Send for Rs2MotionDeviceIntrinsics