CalibrationParameters Struct Reference

Intrinsic and Extrinsic parameters of the camera (translation and rotation). More...

Attributes
float3	R
float3	T
CameraParameters	left_cam
CameraParameters	right_cam

Detailed Description

Intrinsic and Extrinsic parameters of the camera (translation and rotation).

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

Note

The calibration/rectification process, called during sl::Camera::open, is using the raw parameters defined in the SNXXX.conf file, where XXX is the ZED Serial Number.
Those values may be adjusted or not by the Self-Calibration to get a proper image alignment. After sl::Camera::open is done (with or without Self-Calibration activated) success, 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 retrieveImage()) are aligned as if they were taken by a "perfect" stereo camera, defined by the new CalibrationParameters.

Variables

R

float3 R

Rotation on its own (using Rodrigues' transformation) of the right sensor. The left is considered as the reference. Defined as 'tilt', 'convergence' and 'roll'. Using a Rotation, you can use Rotation::setRotationVector(R) to convert into other representations.

T

float3 T

Translation between the two sensors. T.x is the distance between the two cameras (baseline) in the sl::UNIT chosen during sl::Camera::open (mm, cm, meters, inches...).

left_cam

CameraParameters left_cam

Intrinsic parameters of the left camera

right_cam

CameraParameters right_cam

Intrinsic parameters of the right camera