69 int width,
int height,
double fx,
double fy,
double cx,
double cy);
82 int width,
int height,
double fx,
double fy,
double cx,
double cy) {
85 intrinsic_matrix_.setIdentity();
86 intrinsic_matrix_(0, 0) = fx;
87 intrinsic_matrix_(1, 1) = fy;
88 intrinsic_matrix_(0, 2) = cx;
89 intrinsic_matrix_(1, 2) = cy;
94 return std::make_pair(intrinsic_matrix_(0, 0), intrinsic_matrix_(1, 1));
100 return std::make_pair(intrinsic_matrix_(0, 2), intrinsic_matrix_(1, 2));
104 double GetSkew()
const {
return intrinsic_matrix_(0, 1); }
107 bool IsValid()
const {
return (width_ > 0 && height_ > 0); }
109 bool ConvertToJsonValue(Json::Value &value)
const override;
110 bool ConvertFromJsonValue(
const Json::Value &value)
override;
Eigen::Matrix3d intrinsic_matrix_
Definition: PinholeCameraIntrinsic.h:122
std::pair< double, double > GetPrincipalPoint() const
Definition: PinholeCameraIntrinsic.h:99
std::pair< double, double > GetFocalLength() const
Returns the focal length in a tuple of X-axis and Y-axis focal lengths.
Definition: PinholeCameraIntrinsic.h:93
Default settings for Kinect2 depth camera.
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
Default settings for PrimeSense camera sensor.
Default settings for Kinect2 color camera.
void SetIntrinsics(int width, int height, double fx, double fy, double cx, double cy)
Set camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:81
double GetSkew() const
Returns the skew.
Definition: PinholeCameraIntrinsic.h:104
bool IsValid() const
Returns true iff both the width and height are greater than 0.
Definition: PinholeCameraIntrinsic.h:107
Definition: PinholeCameraIntrinsic.cpp:35
PinholeCameraIntrinsicParameters
Sets default camera intrinsic parameters for sensors.
Definition: PinholeCameraIntrinsic.h:39
int height
Definition: FilePCD.cpp:72
OPEN3D_HOST_DEVICE Pair< First, Second > make_pair(const First &_first, const Second &_second)
Definition: Traits.h:68
int width
Definition: FilePCD.cpp:71
Definition: IJsonConvertible.h:44