package videoimu

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Used in: MessageWrapper, VideoCaptureData

• repeated float intrinsic_params = 1

  fx, fy, cx, cy, s See https://developer.android.com/reference/android/hardware/camera2/CameraCharacteristics#LENS_INTRINSIC_CALIBRATION for details on how to use the intrinsics, pose_translation and pose_rotation.

• repeated float distortion_params = 2

  Radial: k1,k2,k3, Tangential: k4,k5

• bool optical_image_stabilization = 3

• bool video_stabilization = 4

• bool distortion_correction = 10

• int32 sensor_orientation = 14

• CameraInfo.FocusCalibration focus_calibration = 5

• CameraInfo.TimestampSource timestamp_source = 6

• CameraInfo.LensPoseReference lens_pose_reference = 7

• repeated float lens_pose_rotation = 8

• repeated float lens_pose_translation = 9

• optional CameraInfo.Size resolution = 11

• optional CameraInfo.Size pre_correction_active_array_size = 12

  SENSOR_INFO_PRE_CORRECTION_ACTIVE_ARRAY_SIZE

• repeated float original_intrinsic_params = 13

Used in: CameraInfo

• UNCALIBRATED = 0

• APPROXIMATE = 1

• CALIBRATED = 2

Used in: CameraInfo

• PRIMARY_CAMERA = 0

• GYROSCOPE = 1

• UNDEFINED = 2

Used in: CameraInfo

• int32 width = 1

• int32 height = 2

Used in: CameraInfo

• UNKNOWN = 0

• REALTIME = 1

Used in: MessageWrapper, VideoCaptureData

• int64 time_ns = 1

• repeated float gyro = 2

• repeated float gyro_drift = 3

• repeated float accel = 4

• repeated float accel_bias = 5

• IMUData.Accuracy gyro_accuracy = 6

• IMUData.Accuracy accel_accuracy = 7

• repeated float mag = 8

  added for magnetometer support

• repeated float mag_bias = 9

• IMUData.Accuracy mag_accuracy = 10

Used in: IMUData

• UNRELIABLE = 0

• LOW = 1

• MEDIUM = 2

• HIGH = 3

Used in: MessageWrapper, VideoCaptureData

• string gyro_info = 1

• float gyro_resolution = 2

• string accel_info = 3

• float accel_resolution = 4

• float sample_frequency = 5

  Hz

• repeated float placement = 6

• string mag_info = 7

  added for magnetometer support

• float mag_resolution = 8

• oneof msg

  • CameraInfo camera_meta = 1

  • IMUData imu_data = 2

  • IMUInfo imu_meta = 3

  • VideoFrameMetaData frame_meta = 4

  • VideoFrameToTimestamp frame_time = 5

• optional google.protobuf.Timestamp time = 1

• optional CameraInfo camera_meta = 2

• optional IMUInfo imu_meta = 3

• repeated IMUData imu = 4

• repeated VideoFrameMetaData video_meta = 5

Used in: MessageWrapper, VideoCaptureData

• int64 time_ns = 1

• int64 frame_number = 2

• int64 exposure_time_ns = 3

• int64 frame_duration_ns = 4

• int64 frame_readout_ns = 5

• int32 iso = 6

• float focal_length_mm = 7

• float est_focal_length_pix = 8

• float focus_distance_diopters = 9

• repeated VideoFrameMetaData.OISSample OIS_samples = 10

• bool focus_locked = 11

Used in: VideoFrameMetaData

• int64 time_ns = 1

• float x_shift = 2

• float y_shift = 3

Used in: MessageWrapper

• int64 time_us = 1

• int64 frame_nbr = 2