This class wraps intrinsic parameters of a camera.
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#include <opencv2/viz/types.hpp>
This class wraps intrinsic parameters of a camera.
It provides several constructors that can extract the intrinsic parameters from field of view, intrinsic matrix and projection matrix. :
◆ Camera() [1/4]
cv::viz::Camera::Camera |
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double |
fx, |
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double |
fy, |
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double |
cx, |
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double |
cy, |
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const Size & |
window_size |
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Constructs a Camera.
- Parameters
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fx | Horizontal focal length. |
fy | Vertical focal length. |
cx | x coordinate of the principal point. |
cy | y coordinate of the principal point. |
window_size | Size of the window. This together with focal length and principal point determines the field of view. |
◆ Camera() [2/4]
cv::viz::Camera::Camera |
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const Vec2d & |
fov, |
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const Size & |
window_size |
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters
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fov | Field of view (horizontal, vertical) in radians |
window_size | Size of the window. Principal point is at the center of the window by default. |
◆ Camera() [3/4]
cv::viz::Camera::Camera |
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const Matx33d & |
K, |
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const Size & |
window_size |
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters
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K | Intrinsic matrix of the camera with the following form
\[ \begin{bmatrix} f_x & 0 & c_x\\ 0 & f_y & c_y\\ 0 & 0 & 1\\ \end{bmatrix} \]
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window_size | Size of the window. This together with intrinsic matrix determines the field of view. |
◆ Camera() [4/4]
cv::viz::Camera::Camera |
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const Matx44d & |
proj, |
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const Size & |
window_size |
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explicit |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
- Parameters
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proj | Projection matrix of the camera with the following form
\[ \begin{bmatrix} \frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\ 0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\ 0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\ 0 & 0 & -1 & 0\\ \end{bmatrix} \]
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window_size | Size of the window. This together with projection matrix determines the field of view. |
◆ computeProjectionMatrix()
void cv::viz::Camera::computeProjectionMatrix |
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Matx44d & |
proj | ) |
const |
Computes projection matrix using intrinsic parameters of the camera.
- Parameters
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proj | Output projection matrix with the following form
\[ \begin{bmatrix} \frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\ 0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\ 0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\ 0 & 0 & -1 & 0\\ \end{bmatrix} \]
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◆ getClip()
const Vec2d& cv::viz::Camera::getClip |
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const |
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inline |
◆ getFocalLength()
const Vec2d& cv::viz::Camera::getFocalLength |
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const |
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inline |
◆ getFov()
const Vec2d& cv::viz::Camera::getFov |
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const |
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inline |
◆ getPrincipalPoint()
const Vec2d& cv::viz::Camera::getPrincipalPoint |
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const |
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inline |
◆ getWindowSize()
const Size& cv::viz::Camera::getWindowSize |
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const |
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inline |
◆ KinectCamera()
static Camera cv::viz::Camera::KinectCamera |
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const Size & |
window_size | ) |
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static |
Creates a Kinect Camera with.
- fx = fy = 525
- cx = 320
- cy = 240
- Parameters
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window_size | Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view. |
◆ setClip()
void cv::viz::Camera::setClip |
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const Vec2d & |
clip | ) |
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inline |
◆ setFov()
void cv::viz::Camera::setFov |
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const Vec2d & |
fov | ) |
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inline |
◆ setWindowSize()
void cv::viz::Camera::setWindowSize |
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const Size & |
window_size | ) |
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The documentation for this class was generated from the following file: