Contains the pinhole camera intrinsic parameters. More...

#include <PinholeCameraIntrinsic.h>

Inheritance diagram for cloudViewer::camera::PinholeCameraIntrinsic:

Collaboration diagram for cloudViewer::camera::PinholeCameraIntrinsic:

Public Member Functions
	PinholeCameraIntrinsic ()
	Default Constructor. More...

	PinholeCameraIntrinsic (int width, int height, const Eigen::Matrix3d &intrinsic_matrix)
	Parameterized Constructor. More...

	PinholeCameraIntrinsic (PinholeCameraIntrinsicParameters)
	Parameterized Constructor. More...

	PinholeCameraIntrinsic (int width, int height, double fx, double fy, double cx, double cy)
	Parameterized Constructor. More...

virtual	~PinholeCameraIntrinsic () override

void	SetIntrinsics (int width, int height, double fx, double fy, double cx, double cy)
	Set camera intrinsic parameters. More...

std::pair< double, double >	GetFocalLength () const
	Returns the focal length in a tuple of X-axis and Y-axis focal lengths. More...

std::pair< double, double >	GetPrincipalPoint () const

double	GetSkew () const
	Returns the skew. More...

bool	IsValid () const
	Returns `true` iff both the width and height are greater than 0. More...

bool	ConvertToJsonValue (Json::Value &value) const override

bool	ConvertFromJsonValue (const Json::Value &value) override

Public Member Functions inherited from cloudViewer::utility::IJsonConvertible
virtual	~IJsonConvertible ()

virtual std::string	ToString () const
	Convert to a styled string representation of JSON data for display. More...

Public Attributes
int	width_ = -1
	Width of the image. More...

int	height_ = -1
	Height of the image. More...

Eigen::Matrix3d	intrinsic_matrix_

Additional Inherited Members
Static Public Member Functions inherited from cloudViewer::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.

Definition at line 34 of file PinholeCameraIntrinsic.h.

Constructor & Destructor Documentation

◆ PinholeCameraIntrinsic() [1/4]

cloudViewer::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic ( )

Default Constructor.

◆ PinholeCameraIntrinsic() [2/4]

cloudViewer::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]

cloudViewer::camera::PinholeCameraIntrinsic::PinholeCameraIntrinsic ( PinholeCameraIntrinsicParameters )

Parameterized Constructor.

Parameters

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

◆ PinholeCameraIntrinsic() [4/4]

cloudViewer::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()

virtual cloudViewer::camera::PinholeCameraIntrinsic::~PinholeCameraIntrinsic ( )

overridevirtual

Member Function Documentation

◆ ConvertFromJsonValue()

bool cloudViewer::camera::PinholeCameraIntrinsic::ConvertFromJsonValue ( const Json::Value & value )

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Referenced by cloudViewer::io::MKVMetadata::ConvertFromJsonValue(), and cloudViewer::t::io::RGBDVideoMetadata::ConvertFromJsonValue().

◆ ConvertToJsonValue()

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

overridevirtual

Implements cloudViewer::utility::IJsonConvertible.

Referenced by cloudViewer::io::MKVMetadata::ConvertToJsonValue(), cloudViewer::t::io::RGBDVideoMetadata::ConvertToJsonValue(), and cloudViewer::t::io::RealSenseSensorConfig::GetMetadataJson().

◆ GetFocalLength()

std::pair<double, double> cloudViewer::camera::PinholeCameraIntrinsic::GetFocalLength ( ) const

inline

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

Definition at line 87 of file PinholeCameraIntrinsic.h.

References cloudViewer::core::make_pair().

Referenced by cloudViewer::t::pipelines::odometry::CreateIntrisicTensor(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), cloudViewer::pipelines::color_map::Project3DPointAndGetUVDepth(), and cloudViewer::camera::pybind_camera_classes().

◆ GetPrincipalPoint()

std::pair<double, double> cloudViewer::camera::PinholeCameraIntrinsic::GetPrincipalPoint ( ) const

inline

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

Definition at line 93 of file PinholeCameraIntrinsic.h.

References cloudViewer::core::make_pair().

Referenced by cloudViewer::t::pipelines::odometry::CreateIntrisicTensor(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), cloudViewer::pipelines::color_map::Project3DPointAndGetUVDepth(), and cloudViewer::camera::pybind_camera_classes().

◆ GetSkew()

double cloudViewer::camera::PinholeCameraIntrinsic::GetSkew ( ) const

inline

Returns the skew.

Definition at line 98 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::camera::pybind_camera_classes(), and cloudViewer::io::rpc::SetLegacyCamera().

◆ IsValid()

bool cloudViewer::camera::PinholeCameraIntrinsic::IsValid ( ) const

inline

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

Definition at line 101 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::camera::pybind_camera_classes(), and cloudViewer::io::rpc::SetLegacyCamera().

◆ SetIntrinsics()

void cloudViewer::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.

Definition at line 75 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::t::io::RealSenseSensorConfig::GetMetadataJson(), main(), and cloudViewer::camera::pybind_camera_classes().

Member Data Documentation

◆ height_

int cloudViewer::camera::PinholeCameraIntrinsic::height_ = -1

Height of the image.

Definition at line 110 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), cloudViewer::camera::pybind_camera_classes(), cloudViewer::geometry::pybind_lineset(), cloudViewer::io::rpc::SetLegacyCamera(), cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), and cloudViewer::visualization::gui::SceneWidget::SetupCamera().

◆ intrinsic_matrix_

Eigen::Matrix3d cloudViewer::camera::PinholeCameraIntrinsic::intrinsic_matrix_

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

Definition at line 116 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::pipelines::odometry::CreateCameraMatrixPyramid(), cloudViewer::pipelines::odometry::CreateInformationMatrix(), cloudViewer::pipelines::odometry::InitializeRGBDOdometry(), cloudViewer::camera::pybind_camera_classes(), cloudViewer::geometry::pybind_lineset(), cloudViewer::io::rpc::SetLegacyCamera(), cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), and cloudViewer::visualization::gui::SceneWidget::SetupCamera().

◆ width_

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

Width of the image.

Definition at line 108 of file PinholeCameraIntrinsic.h.

Referenced by cloudViewer::pipelines::integration::ScalableTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::Integrate(), cloudViewer::pipelines::integration::UniformTSDFVolume::IntegrateWithDepthToCameraDistanceMultiplier(), cloudViewer::camera::pybind_camera_classes(), cloudViewer::geometry::pybind_lineset(), cloudViewer::io::rpc::SetLegacyCamera(), cloudViewer::visualization::rendering::PyOffscreenRenderer::SetupCamera(), and cloudViewer::visualization::gui::SceneWidget::SetupCamera().

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

/root/ACloudViewer/libs/CV_db/include/camera/PinholeCameraIntrinsic.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PinholeCameraIntrinsic() [1/4]

◆ PinholeCameraIntrinsic() [2/4]

◆ PinholeCameraIntrinsic() [3/4]

◆ PinholeCameraIntrinsic() [4/4]

◆ ~PinholeCameraIntrinsic()

Member Function Documentation

◆ ConvertFromJsonValue()

◆ ConvertToJsonValue()

◆ GetFocalLength()

◆ GetPrincipalPoint()

◆ GetSkew()

◆ IsValid()

◆ SetIntrinsics()

Member Data Documentation

◆ height_

◆ intrinsic_matrix_

◆ width_