Open3D (C++ API)  0.12.0
PinholeCameraIntrinsic.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 
32 
33 namespace open3d {
34 namespace camera {
35 
46 };
47 
52 public:
69  int width, int height, double fx, double fy, double cx, double cy);
70  ~PinholeCameraIntrinsic() override;
71 
72 public:
82  int width, int height, double fx, double fy, double cx, double cy) {
83  width_ = width;
84  height_ = height;
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;
90  }
91 
93  std::pair<double, double> GetFocalLength() const {
94  return std::make_pair(intrinsic_matrix_(0, 0), intrinsic_matrix_(1, 1));
95  }
96 
99  std::pair<double, double> GetPrincipalPoint() const {
100  return std::make_pair(intrinsic_matrix_(0, 2), intrinsic_matrix_(1, 2));
101  }
102 
104  double GetSkew() const { return intrinsic_matrix_(0, 1); }
105 
107  bool IsValid() const { return (width_ > 0 && height_ > 0); }
108 
109  bool ConvertToJsonValue(Json::Value &value) const override;
110  bool ConvertFromJsonValue(const Json::Value &value) override;
111 
112 public:
114  int width_ = -1;
116  int height_ = -1;
122  Eigen::Matrix3d intrinsic_matrix_;
123 };
124 } // namespace camera
125 } // namespace open3d
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
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
Default settings for PrimeSense camera sensor.
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