typedef struct bef_ai_slam_camera_calib_size{
} bef_ai_slam_camera_calib_size;
typedef struct bef_ai_slam_camera_info
bef_ai_slam_image_color color;
bef_ai_slam_device_orientation oriention;
bef_ai_slam_camera_calib_size calib_size;
bef_ai_slam_camera_intrinsic camera_intrinsic;
bef_ai_slam_camera_extrinsic camera_extrinsic;
bef_ai_slam_camera_distort camera_distort;
int disable_internal_time_delay; // disable the internal correction of time delay
float horizontal_fov; // not used
bef_ai_slam_resolution resolution;
bool low_texture_enhanced; // disable it to speed up but worse results on low-texture regions
bef_ai_slam_accuracy_level level;// default value is Medium, use Low for faster version
int is_video; // use video mode
int easy_init; // use fast initialization
int enable_multi_planes;
int enable_normal_model;
}bef_ai_slam_camera_info;
typedef struct bef_ai_slam_camera_info
bef_ai_slam_image_color color;
bef_ai_slam_device_orientation oriention;
bef_ai_slam_camera_intrinsic camera_intrinsic;
bef_ai_slam_camera_extrinsic camera_extrinsic;
bef_ai_slam_camera_distort camera_distort;
int disable_internal_time_delay; // disable the internal correction of time delay
float horizontal_fov; // not used
bef_ai_slam_resolution resolution;
bool low_texture_enhanced; // disable it to speed up but worse results on low-texture regions
bef_ai_slam_accuracy_level level;// default value is Medium, use Low for faster version
int is_video; // use video mode
int easy_init; // use fast initialization
int enable_multi_planes;
int enable_normal_model;
}bef_ai_slam_camera_info;
typedef struct bef_ai_slam_pose{
float R[9]; // row major 3x3 rotation matrix
float T[3]; // 3x1 translation matrix
bef_ai_slam_tracking_state state;
int plane_detected; // planeDetected 1, otherwise 0
double time_stamp; // time for pose (unit is second), 0 for no time
float img_td; // t_imu = t_img + img_td, unit: ms
float focal_len; // camera focal length, unit: pixel
bool is_calibing; // is in self-calib process
int is_stationary; // -1 for system uninitialized, 0 for static, 1 for dynamic, 2 for not sure
typedef struct bef_ai_slam_pose{
float R[9]; // row major 3x3 rotation matrix
float T[3]; // 3x1 translation matrix
bef_ai_slam_tracking_state state;
int plane_detected; // planeDetected 1, otherwise 0
double time_stamp; // time for pose (unit is second), 0 for no time
float img_td; // t_imu = t_img + img_td, unit: ms
int is_stationary; // -1 for system uninitialized, 0 for static, 1 for dynamic, 2 for not sure