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.
	PinholeCameraIntrinsic (int width, int height, const Eigen::Matrix3d &intrinsic_matrix)
	Parameterized Constructor.
	PinholeCameraIntrinsic (PinholeCameraIntrinsicParameters param)
	Parameterized Constructor.
	PinholeCameraIntrinsic (int width, int height, double fx, double fy, double cx, double cy)
	Parameterized Constructor.
	~PinholeCameraIntrinsic () override
void	SetIntrinsics (int width, int height, double fx, double fy, double cx, double cy)
	Set camera intrinsic parameters.
std::pair< double, double >	GetFocalLength () const
	Returns the focal length in a tuple of X-axis and Y-axis focal lengths.
std::pair< double, double >	GetPrincipalPoint () const
double	GetSkew () const
	Returns the skew.
bool	IsValid () const
	Returns true iff both the width and height are greater than 0.
bool	ConvertToJsonValue (Json::Value &value) const override
bool	ConvertFromJsonValue (const Json::Value &value) override
Public Member Functions inherited from open3d::utility::IJsonConvertible
virtual	~IJsonConvertible ()
virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display.

Data Fields
int	width_ = -1
	Width of the image.
int	height_ = -1
	Height of the image.

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() [1/4]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic

(

)

Default Constructor.

PinholeCameraIntrinsic() [2/4]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic	(	int	width,
		int	height,
		const Eigen::Matrix3d &	intrinsic_matrix )

Parameterized Constructor.

Parameters

width	width of the image. (Default: -1).
height	height of the image. (Default: -1).
intrinsic_matrix	3x3 intrinsic matrix. (Default: Identity).

PinholeCameraIntrinsic() [3/4]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic

(

PinholeCameraIntrinsicParameters

param

)

Parameterized Constructor.

Parameters

param

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

PinholeCameraIntrinsic() [4/4]

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.

width_

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

Width of the image.

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

• cpp/open3d/camera/PinholeCameraIntrinsic.h
• cpp/open3d/camera/PinholeCameraIntrinsic.cpp