cloudViewer.camera.PinholeCameraIntrinsic

class cloudViewer.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 (cloudViewer.camera.PinholeCameraIntrinsic) –

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

Parameters:

• width (SupportsInt) –

• height (SupportsInt) –

• fx (SupportsFloat) –

• fy (SupportsFloat) –

• cx (SupportsFloat) –

• cy (SupportsFloat) –

4. __init__(self, param)

Parameters:

param (cloudViewer::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 principal point in a tuple of X-axis and Y-axis principal 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 (SupportsInt) – Width of the image.

• height (SupportsInt) – Height of the image.

• fx (SupportsFloat) – X-axis focal length

• fy (SupportsFloat) – Y-axis focal length.

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

• cy (SupportsFloat) – 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