Open3D (C++ API)  0.18.0
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Public Member Functions | Data Fields
open3d::camera::PinholeCameraIntrinsic Class Reference

Contains the pinhole camera intrinsic parameters. More...

#include <PinholeCameraIntrinsic.h>

Inheritance diagram for open3d::camera::PinholeCameraIntrinsic:
open3d::utility::IJsonConvertible

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.
 
Eigen::Matrix3d intrinsic_matrix_
 

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
widthwidth of the image. (Default: -1).
heightheight of the image. (Default: -1).
intrinsic_matrix3x3 intrinsic matrix. (Default: Identity).

◆ PinholeCameraIntrinsic() [3/4]

open3d::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic ( PinholeCameraIntrinsicParameters  param)

Parameterized Constructor.

Parameters
paramSets 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
widthwidth of the image.
heightheight of the image.
fxfocal length along the X-axis.
fyfocal length along the Y-axis.
cxprincipal point of the X-axis.
cyprincipal 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

◆ ConvertToJsonValue()

bool open3d::camera::PinholeCameraIntrinsic::ConvertToJsonValue ( Json::Value &  value) const
overridevirtual

◆ 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.

◆ intrinsic_matrix_

Eigen::Matrix3d open3d::camera::PinholeCameraIntrinsic::intrinsic_matrix_

3x3 matrix.
Intrinsic camera matrix:
[[fx, 0, cx],
[0, fy, cy],
[0, 0, 1]]

◆ width_

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

Width of the image.


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