#include <tango_client_api.h>
Public Attributes | |
| TangoCalibrationType | calibration_type |
| TangoCameraId | camera_id |
| ID of the camera which the intrinsics reference. More... | |
| double | cx |
| Principal point x coordinate on the image, in pixels. More... | |
| double | cy |
| Principal point y coordinate on the image, in pixels. More... | |
| double | distortion [5] |
| double | fx |
| Focal length, x axis, in pixels. More... | |
| double | fy |
| Focal length, y axis, in pixels. More... | |
| uint32_t | height |
| The height of the image in pixels. More... | |
| uint32_t | width |
| The width of the image in pixels. More... | |
The TangoCameraIntrinsics struct contains intrinsic parameters for a camera.
Given a 3D point (X, Y, Z) in camera coordinates, the corresponding pixel coordinates (x, y) are:
The normalized radial distance ru is given by:
The distorted radial distance rd depends on the distortion model used.
TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS implements Brown's camera model, where rd is a polynomial that depends on the three distortion coefficients k1, k2 and k3:
TANGO_CALIBRATION_EQUIDISTANT implements the FOV camera model, where rd depends on the single distortion coefficient w:
For more information, see our page on Camera Intrinsics and Extrinsics.
Definition at line 525 of file tango_client_api.h.
| TangoCalibrationType TangoCameraIntrinsics::calibration_type |
The type of distortion model used. This determines the meaning of the distortion coefficients.
Definition at line 530 of file tango_client_api.h.
| TangoCameraId TangoCameraIntrinsics::camera_id |
ID of the camera which the intrinsics reference.
Definition at line 527 of file tango_client_api.h.
| double TangoCameraIntrinsics::cx |
Principal point x coordinate on the image, in pixels.
Definition at line 542 of file tango_client_api.h.
| double TangoCameraIntrinsics::cy |
Principal point y coordinate on the image, in pixels.
Definition at line 544 of file tango_client_api.h.
| double TangoCameraIntrinsics::distortion[5] |
Distortion coefficients. Number and meaning of these values depends on the distortion model specified by calibration_type.
Definition at line 548 of file tango_client_api.h.
| double TangoCameraIntrinsics::fx |
Focal length, x axis, in pixels.
Definition at line 538 of file tango_client_api.h.
| double TangoCameraIntrinsics::fy |
Focal length, y axis, in pixels.
Definition at line 540 of file tango_client_api.h.
| uint32_t TangoCameraIntrinsics::height |
The height of the image in pixels.
Definition at line 535 of file tango_client_api.h.
| uint32_t TangoCameraIntrinsics::width |
The width of the image in pixels.
Definition at line 533 of file tango_client_api.h.