open3d.camera.PinholeCameraIntrinsic#

class open3d.camera.PinholeCameraIntrinsic#

PinholeCameraIntrinsic class stores intrinsic camera matrix, and image height and width.

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self)

    Default constructor

  2. __init__(self, arg0)

    Copy constructor

Parameters:

arg0 (open3d.camera.PinholeCameraIntrinsic) –

  1. __init__(self, width, height, intrinsic_matrix)

Parameters:

  • width (int) –

  • height (int) –

  • intrinsic_matrix (numpy.ndarray[numpy.float64[3, 3]]) –

  1. __init__(self, width, height, fx, fy, cx, cy)

Parameters:

  • width (int) –

  • height (int) –

  • fx (float) –

  • fy (float) –

  • cx (float) –

  • cy (float) –

  1. __init__(self, param)

Parameters:

param (open3d.camera.PinholeCameraIntrinsicParameters) –

get_focal_length(self)#

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

Returns:

Tuple[float, float]

get_principal_point(self)#

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

Returns:

Tuple[float, float]

get_skew(self)#

Returns the skew.

Returns:

float

is_valid(self)#

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

Returns:

bool

set_intrinsics(self, width, height, fx, fy, cx, cy)#

Set camera intrinsic parameters.

Parameters:

  • width (int) – Width of the image.

  • height (int) – Height of the image.

  • fx (float) – X-axis focal length

  • fy (float) – Y-axis focal length.

  • cx (float) – X-axis principle point.

  • cy (float) – Y-axis principle point.

Returns:

None

property height#

Height of the image.

Type:

int

property intrinsic_matrix#

Intrinsic camera matrix [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]

Type:

3x3 numpy array

property width#

Width of the image.

Type:

int