fovis::CameraIntrinsicsParameters Struct Reference

Intrinsic parameters for a pinhole camera with plumb-bob distortion model. More...

#include <camera_intrinsics.hpp>

List of all members.

Public Member Functions
	CameraIntrinsicsParameters ()
Eigen::Matrix< double, 3, 4 >	toProjectionMatrix () const
Public Attributes
double	cx
double	cy
double	fx
double	fy
int	height
double	k1
double	k2
double	k3
double	p1
double	p2
int	width

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Detailed Description

Intrinsic parameters for a pinhole camera with plumb-bob distortion model.

Definition at line 14 of file camera_intrinsics.hpp.

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Constructor & Destructor Documentation

fovis::CameraIntrinsicsParameters::CameraIntrinsicsParameters

(

)

[inline]

Definition at line 16 of file camera_intrinsics.hpp.

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Member Function Documentation

Eigen::Matrix<double, 3, 4> fovis::CameraIntrinsicsParameters::toProjectionMatrix

(

)

const [inline]

 [ fx 0  cx 0 ]
 [ 0  fy cy 0 ]
 [ 0  0  1  0 ]

Returns:

a 3x4 projection matrix that transforms 3D homogeneous points in the camera frame to 2D homogeneous points in the image plane.

Definition at line 31 of file camera_intrinsics.hpp.

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Member Data Documentation

double fovis::CameraIntrinsicsParameters::cx

X-coordinate of the camera center of projection / principal point.

Definition at line 64 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::cy

Y-coordinate of the camera center of projection / principal point.

Definition at line 69 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::fx

focal length along the X axis.

Definition at line 54 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::fy

focal length along the Y axis. Should generally be the same as fx.

Definition at line 59 of file camera_intrinsics.hpp.

int fovis::CameraIntrinsicsParameters::height

Image height.

Definition at line 49 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::k1

First radial distortion coefficient (r^2) for a plumb-bob distortion model.

See also:

http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html

Definition at line 76 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::k2

Second radial distortion coefficient (r^4) for a plumb-bob distortion model.

Definition at line 81 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::k3

Third radial distortion coefficient (r^6) for a plumb-bob distortion model.

Definition at line 86 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::p1

First tangential distortion coefficient for a plumb-bob distortion model.

Definition at line 91 of file camera_intrinsics.hpp.

double fovis::CameraIntrinsicsParameters::p2

Second tangential distortion coefficient for a plumb-bob distortion model.

Definition at line 96 of file camera_intrinsics.hpp.

int fovis::CameraIntrinsicsParameters::width

Image width.

Definition at line 44 of file camera_intrinsics.hpp.

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

• camera_intrinsics.hpp