47 int width,
int height,
double fx,
double fy,
double cx,
double cy);
52 int width,
int height,
double fx,
double fy,
double cx,
double cy) {
55 intrinsic_matrix_.setIdentity();
56 intrinsic_matrix_(0, 0) = fx;
57 intrinsic_matrix_(1, 1) = fy;
58 intrinsic_matrix_(0, 2) = cx;
59 intrinsic_matrix_(1, 2) = cy;
63 return std::make_pair(intrinsic_matrix_(0, 0), intrinsic_matrix_(1, 1));
67 return std::make_pair(intrinsic_matrix_(0, 2), intrinsic_matrix_(1, 2));
70 double GetSkew()
const {
return intrinsic_matrix_(0, 1); }
72 bool IsValid()
const {
return (width_ > 0 && height_ > 0); }
74 bool ConvertToJsonValue(Json::Value &value)
const override;
75 bool ConvertFromJsonValue(
const Json::Value &value)
override;
Eigen::Matrix3d intrinsic_matrix_
Definition: PinholeCameraIntrinsic.h:80
std::pair< double, double > GetPrincipalPoint() const
Definition: PinholeCameraIntrinsic.h:66
std::pair< double, double > GetFocalLength() const
Definition: PinholeCameraIntrinsic.h:62
Definition: PinholeCameraIntrinsic.h:42
void SetIntrinsics(int width, int height, double fx, double fy, double cx, double cy)
Definition: PinholeCameraIntrinsic.h:51
double GetSkew() const
Definition: PinholeCameraIntrinsic.h:70
bool IsValid() const
Definition: PinholeCameraIntrinsic.h:72
Definition: PinholeCameraIntrinsic.cpp:34
PinholeCameraIntrinsicParameters
Definition: PinholeCameraIntrinsic.h:36
int height
Definition: FilePCD.cpp:68
int width
Definition: FilePCD.cpp:67
Definition: IJsonConvertible.h:42