CameraParameters Class Reference

Intrinsic parameters of a camera. More...

Functions
def	fx (self)
	Focal length in pixels along x axis.
def	fy (self)
	Focal length in pixels along y axis.
def	cx (self)
	Optical center along x axis, defined in pixels (usually close to width/2).
def	cy (self)
	Optical center along y axis, defined in pixels (usually close to height/2).
def	disto (self)
	A Numpy array. More...
def	set_disto (self, float value1, float value2, float value3, float value4, float value5)
	Sets the elements of the disto array. More...
def	v_fov (self)
	Vertical field of view, in degrees.
def	h_fov (self)
	Horizontal field of view, in degrees.
def	d_fov (self)
	Diagonal field of view, in degrees.
def	image_size (self)
	Size in pixels of the images given by the camera.
def	set_up (self, float fx_, float fy_, float cx_, float cy_)
	Setups the parameters of a camera. More...

Detailed Description

Intrinsic parameters of a camera.

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

Note

Similar to the CalibrationParameters , those parameters are taken from the settings file (SNXXX.conf) and are modified during the Camera.open call, represent the camera matrix corresponding to rectified or unrectified images. \nWhen filled with rectified parameters, fx,fy,cx,cy must be the same for Left and Right Camera once Camera.open has been called. Since distortion is corrected during rectification, distortion should not be considered on rectified images.

Functions

disto()

def disto

(

self

)

A Numpy array.

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

set_disto()

def set_disto	(		self,
		float	value1,
		float	value2,
		float	value3,
		float	value4,
		float	value5
	)

Sets the elements of the disto array.

Parameters

float	value1 : k1
float	value2 : k2
float	value3 : p1
float	value4 : p2
float	value5 : k3

set_up()

def set_up	(		self,
		float	fx_,
		float	fy_,
		float	cx_,
		float	cy_
	)

Setups the parameters of a camera.

Parameters

float	fx_ : horizontal focal length.
float	fy_ : vertical focal length.
float	cx_ : horizontal optical center.
float	cx_ : vertical optical center.