Intrinsic parameters for a pinhole camera with plumb-bob distortion model. More...

Detailed Description

Intrinsic parameters for a pinhole camera with plumb-bob distortion model.

Member Function Documentation

Eigen::Matrix<double, 3, 4> toProjectionMatrix ( ) const

inline

[ fx 0  cx 0 ]
[ 0  fy cy 0 ]
[ 0  0  1  0 ]

Returns: a 3x4 projection matrix that transforms 3D homogeneous points in the camera frame to 2D homogeneous points in the image plane.

int width

Image width.

int height

Image height.

double fx

focal length along the X axis.

double fy

focal length along the Y axis. Should generally be the same as fx.

double cx

X-coordinate of the camera center of projection / principal point.

double cy

Y-coordinate of the camera center of projection / principal point.

double k1

First radial distortion coefficient (r^2) for a plumb-bob distortion model.

See also: http://www.vision.caltech.edu/bouguetj/calib_doc/htmls/parameters.html

double k2

Second radial distortion coefficient (r^4) for a plumb-bob distortion model.

double k3

Third radial distortion coefficient (r^6) for a plumb-bob distortion model.

double p1

First tangential distortion coefficient for a plumb-bob distortion model.

double p2

Second tangential distortion coefficient for a plumb-bob distortion model.

The documentation for this struct was generated from the following file: