open3d::camera::PinholeCameraIntrinsic Class Reference

Contains the pinhole camera intrinsic parameters. More...

#include <PinholeCameraIntrinsic.h>

Inheritance diagram for open3d::camera::PinholeCameraIntrinsic:

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)

Detailed Description

Contains the pinhole camera intrinsic parameters.

Constructor & Destructor Documentation

PinholeCameraIntrinsic() [1/3]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic

(

)

Default Constructor.

PinholeCameraIntrinsic() [2/3]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic

(

PinholeCameraIntrinsicParameters

param

)

Parameterized Constructor.

Parameters

param

Sets the camera parameters to the default settings of one of the sensors.

PinholeCameraIntrinsic() [3/3]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic	(	int	width,
		int	height,
		double	fx,
		double	fy,
		double	cx,
		double	cy
	)

Parameterized Constructor.

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.

~PinholeCameraIntrinsic()

open3d::camera::PinholeCameraIntrinsic::~PinholeCameraIntrinsic ( )

override

Member Function Documentation

ConvertFromJsonValue()

bool open3d::camera::PinholeCameraIntrinsic::ConvertFromJsonValue ( const Json::Value &  value )

overridevirtual

Implements open3d::utility::IJsonConvertible.

ConvertToJsonValue()

bool open3d::camera::PinholeCameraIntrinsic::ConvertToJsonValue ( Json::Value &  value ) const

overridevirtual

Implements open3d::utility::IJsonConvertible.

GetFocalLength()

std::pair<double, double> open3d::camera::PinholeCameraIntrinsic::GetFocalLength ( ) const

inline

Returns the focal length in a tuple of X-axis and Y-axis focal lengths.

GetPrincipalPoint()

std::pair<double, double> open3d::camera::PinholeCameraIntrinsic::GetPrincipalPoint ( ) const

inline

Returns the principle point in a tuple of X-axis and Y-axis principle point.

GetSkew()

double open3d::camera::PinholeCameraIntrinsic::GetSkew ( ) const

inline

Returns the skew.

IsValid()

bool open3d::camera::PinholeCameraIntrinsic::IsValid ( ) const

inline

Returns true iff both the width and height are greater than 0.

SetIntrinsics()

void open3d::camera::PinholeCameraIntrinsic::SetIntrinsics ( int  width, int  height, double  fx, double  fy, double  cx, double  cy  )

inline

Set camera intrinsic parameters.

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.

Field Documentation

height_

int open3d::camera::PinholeCameraIntrinsic::height_ = -1

Height of the image.

intrinsic_matrix_

Eigen::Matrix3d open3d::camera::PinholeCameraIntrinsic::intrinsic_matrix_

3x3 matrix.
Intrinsic camera matrix:
[[fx, 0, cx],
[0, fy, cy],
[0, 0, 1]]

width_

int open3d::camera::PinholeCameraIntrinsic::width_ = -1

Width of the image.

---

The documentation for this class was generated from the following files:

• /home/yixing/repo/Open3D/src/Open3D/Camera/PinholeCameraIntrinsic.h
• /home/yixing/repo/Open3D/src/Open3D/Camera/PinholeCameraIntrinsic.cpp