Open3D (C++ API)
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Contains the pinhole camera intrinsic parameters. More...
#include <PinholeCameraIntrinsic.h>
Public Member Functions | |
PinholeCameraIntrinsic () | |
Default Constructor. More... | |
PinholeCameraIntrinsic (PinholeCameraIntrinsicParameters param) | |
Parameterized Constructor. More... | |
PinholeCameraIntrinsic (int width, int height, double fx, double fy, double cx, double cy) | |
Parameterized Constructor. More... | |
~PinholeCameraIntrinsic () override | |
void | SetIntrinsics (int width, int height, double fx, double fy, double cx, double cy) |
Set camera intrinsic parameters. More... | |
std::pair< double, double > | GetFocalLength () const |
Returns the focal length in a tuple of X-axis and Y-axis focal lengths. More... | |
std::pair< double, double > | GetPrincipalPoint () const |
double | GetSkew () const |
Returns the skew. More... | |
bool | IsValid () const |
Returns true iff both the width and height are greater than 0. More... | |
bool | ConvertToJsonValue (Json::Value &value) const override |
bool | ConvertFromJsonValue (const Json::Value &value) override |
Public Member Functions inherited from open3d::utility::IJsonConvertible | |
virtual | ~IJsonConvertible () |
Data Fields | |
int | width_ = -1 |
Width of the image. More... | |
int | height_ = -1 |
Height of the image. More... | |
Eigen::Matrix3d | intrinsic_matrix_ |
Additional Inherited Members | |
Static Public Member Functions inherited from open3d::utility::IJsonConvertible | |
static bool | EigenVector3dFromJsonArray (Eigen::Vector3d &vec, const Json::Value &value) |
static bool | EigenVector3dToJsonArray (const Eigen::Vector3d &vec, Json::Value &value) |
static bool | EigenVector4dFromJsonArray (Eigen::Vector4d &vec, const Json::Value &value) |
static bool | EigenVector4dToJsonArray (const Eigen::Vector4d &vec, Json::Value &value) |
static bool | EigenMatrix3dFromJsonArray (Eigen::Matrix3d &mat, const Json::Value &value) |
static bool | EigenMatrix3dToJsonArray (const Eigen::Matrix3d &mat, Json::Value &value) |
static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d &mat, const Json::Value &value) |
static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d &mat, Json::Value &value) |
static bool | EigenMatrix4dFromJsonArray (Eigen::Matrix4d_u &mat, const Json::Value &value) |
static bool | EigenMatrix4dToJsonArray (const Eigen::Matrix4d_u &mat, Json::Value &value) |
static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d &mat, const Json::Value &value) |
static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d &mat, Json::Value &value) |
static bool | EigenMatrix6dFromJsonArray (Eigen::Matrix6d_u &mat, const Json::Value &value) |
static bool | EigenMatrix6dToJsonArray (const Eigen::Matrix6d_u &mat, Json::Value &value) |
Contains the pinhole camera intrinsic parameters.
open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic | ( | ) |
Default Constructor.
open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic | ( | PinholeCameraIntrinsicParameters | param | ) |
Parameterized Constructor.
param | Sets the camera parameters to the default settings of one of the sensors. |
open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic | ( | int | width, |
int | height, | ||
double | fx, | ||
double | fy, | ||
double | cx, | ||
double | cy | ||
) |
Parameterized Constructor.
width | width of the image. |
height | height of the image. |
fx | focal length along the X-axis. |
fy | focal length along the Y-axis. |
cx | principal point of the X-axis. |
cy | principal point of the Y-axis. |
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override |
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overridevirtual |
Implements open3d::utility::IJsonConvertible.
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overridevirtual |
Implements open3d::utility::IJsonConvertible.
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inline |
Returns the focal length in a tuple of X-axis and Y-axis focal lengths.
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inline |
Returns the principle point in a tuple of X-axis and Y-axis principle point.
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inline |
Returns the skew.
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inline |
Returns true
iff both the width and height are greater than 0.
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inline |
Set camera intrinsic parameters.
width | - width of the image. |
height | - height of the image. |
fx | - focal length along the X-axis. |
fy | - focal length along the Y-axis. |
cx | - principal point of the X-axis. |
cy | - principal point of the Y-axis. |
int open3d::camera::PinholeCameraIntrinsic::height_ = -1 |
Height of the image.
Eigen::Matrix3d open3d::camera::PinholeCameraIntrinsic::intrinsic_matrix_ |
3x3 matrix.
Intrinsic camera matrix:
[[fx, 0, cx],
[0, fy, cy],
[0, 0, 1]]
int open3d::camera::PinholeCameraIntrinsic::width_ = -1 |
Width of the image.