CalibrationParameters Class Reference

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

Functions
def	R (self)
	Rotation on its own (using Rodrigues' transformation) of the right sensor. More...
def	set_R (self, float value1, float value2, float value3)
	Sets R 's data. More...
def	T (self)
	Translation between the two sensors. More...
def	set_T (self, float value1, float value2, float value3)
	Sets T 's data. More...
def	get_camera_baseline (self)
	Returns the camera baseline in the sl.UNIT defined in sl.InitParameters.
def	left_cam (self)
	Intrisics CameraParameters of the left camera.
def	right_cam (self)
	Intrisics CameraParameters of the right camera.
def	stereo_transform (self)
	Left to Right camera transform, expressed in user coordinate system and unit (defined by InitParameters).

Detailed Description

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

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

Note

The calibration/rectification process, called during 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 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 Camera.retrieve_image() ) are aligned as if they were taken by a "perfect" stereo camera, defined by the new CalibrationParameters .

Warning

CalibrationParameters are returned in COORDINATE_SYSTEM.IMAGE , they are not impacted by the InitParameters.coordinate_system .

Functions

R()

def R

(

self

)

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.set_rotation_vector() to convert into other representations.
Returns a Numpy array of float.

set_R()

def set_R	(		self,
		float	value1,
		float	value2,
		float	value3
	)

Sets R 's data.

Parameters

float	value1 : x
float	value2 : y
float	value3 : z

T()

def T

(

self

)

Translation between the two sensors.

T[0] is the distance between the two cameras (baseline) in the UNIT chosen during Camera.open (mm, cm, meters, inches...).
Returns a numpy array of float.

set_T()

def set_T	(		self,
		float	value1,
		float	value2,
		float	value3
	)

Sets T 's data.

Parameters

float	value1 : x
float	value2 : y
float	value3 : z