CameraParameters Struct Reference

Intrinsic parameters of a camera. More...

Attributes

float fx
 
float fy
 
float cx
 
float cy
 
double disto [5]
 
float v_fov
 
float h_fov
 
float d_fov
 
Resolution image_size
 

Detailed Description

Intrinsic parameters of a camera.

That information about the camera will be returned by Camera::getCameraInformation().

Note
Similar to the CalibrationParameters, those parameters are taken from the settings file (SNXXX.conf) and are modified during the sl::Camera::open call when running a self-calibration). Those parameters given after sl::Camera::open call, represent the camera matrix corresponding to rectified or unrectified images.
When filled with rectified parameters, fx,fy,cx,cy must be the same for Left and Right Camera once sl::Camera::open has been called. Since distortion is corrected during rectification, distortion should not be considered on rectified images.

Variables

◆ fx

float fx

Focal length in pixels along x axis.

◆ fy

float fy

Focal length in pixels along y axis.

◆ cx

float cx

Optical center along x axis, defined in pixels (usually close to width/2).

◆ cy

float cy

Optical center along y axis, defined in pixels (usually close to height/2).

◆ disto

double disto[5]

Distortion factor : [ k1, k2, p1, p2, k3 ]. Radial (k1,k2,k3) and Tangential (p1,p2) distortion.

◆ v_fov

float v_fov

Vertical field of view, in degrees.

◆ h_fov

float h_fov

Horizontal field of view, in degrees.

◆ d_fov

float d_fov

Diagonal field of view, in degrees.

◆ image_size

Resolution image_size