SL_CalibrationParameters Struct Reference

Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). More...

Data Fields
struct SL_CameraParameters	left_cam
	Intrinsic SL_CameraParameters of the left camera.
struct SL_CameraParameters	right_cam
	Intrinsic SL_CameraParameters of the right camera.
struct SL_Vector4	rotation
	Left to right camera rotation, expressed in user coordinate system and unit (defined by SL_InitParameters.coordinate_system).
struct SL_Vector3	translation
	Left to right camera translation, expressed in user coordinate system and unit (defined by SL_InitParameters.coordinate_system).

Detailed Description

Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation).

That information about the camera will be returned by sl_get_camera_information().

Note

The calibration/rectification process, called during sl_open_camera(), is using the raw parameters defined in the SNXXX.conf file, where XXX is the serial number of the camera.

Those values may be adjusted or not by the self-calibration to get a proper image alignment.

After sl_open_camera() is done (with or without self-calibration activated), most of the stereo parameters (except baseline of course) should be 0 or very close to 0.

It means that images after rectification process (given by sl_retrieve_image()) are aligned as if they were taken by a "perfect" stereo camera, defined by the new SL_CalibrationParameters.

Warning

CalibrationParameters are returned in SL_COORDINATE_SYSTEM_IMAGE, they are not impacted by the SL_InitParameters.coordinate_system.