cv::viz::Camera Class Reference

This class wraps intrinsic parameters of a camera. More...

#include <opencv2/viz/types.hpp>

Public Member Functions
	Camera (double fx, double fy, double cx, double cy, const Size &window_size)
	Constructs a Camera.
	Camera (const Vec2d &fov, const Size &window_size)
	Camera (const Matx33d &K, const Size &window_size)
	Camera (const Matx44d &proj, const Size &window_size)
void	computeProjectionMatrix (Matx44d &proj) const
	Computes projection matrix using intrinsic parameters of the camera.
const Vec2d &	getClip () const
const Vec2d &	getFocalLength () const
const Vec2d &	getFov () const
const Vec2d &	getPrincipalPoint () const
const Size &	getWindowSize () const
void	setClip (const Vec2d &clip)
void	setFov (const Vec2d &fov)
void	setWindowSize (const Size &window_size)

Static Public Member Functions
static Camera	KinectCamera (const Size &window_size)
	Creates a Kinect Camera with.

Detailed Description

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. :

Constructor & Destructor Documentation

cv::viz::Camera::Camera	(	double	fx,
		double	fy,
		double	cx,
		double	cy,
		const Size &	window_size
	)

Constructs a Camera.

Parameters

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.

cv::viz::Camera::Camera	(	const Vec2d &	fov,
		const Size &	window_size
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

fov	Field of view (horizontal, vertical)
window_size	Size of the window. Principal point is at the center of the window by default.

cv::viz::Camera::Camera	(	const Matx33d &	K,
		const Size &	window_size
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

K	Intrinsic matrix of the camera with the following form \[ \begin{bmatrix} f_x & 0 & c_x\\ 0 & f_y & c_y\\ 0 & 0 & 1\\ \end{bmatrix} \]
window_size	Size of the window. This together with intrinsic matrix determines the field of view.

cv::viz::Camera::Camera ( const Matx44d &  proj, const Size &  window_size  )

explicit

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

proj	Projection matrix of the camera with the following form \[ \begin{bmatrix} \frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\ 0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\ 0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\ 0 & 0 & -1 & 0\\ \end{bmatrix} \]
window_size	Size of the window. This together with projection matrix determines the field of view.

Member Function Documentation

void cv::viz::Camera::computeProjectionMatrix

(

Matx44d &

proj

)

const

Computes projection matrix using intrinsic parameters of the camera.

Parameters

proj	Output projection matrix with the following form \[ \begin{bmatrix} \frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\ 0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\ 0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\ 0 & 0 & -1 & 0\\ \end{bmatrix} \]

const Vec2d& cv::viz::Camera::getClip ( ) const

inline

const Vec2d& cv::viz::Camera::getFocalLength ( ) const

inline

const Vec2d& cv::viz::Camera::getFov ( ) const

inline

const Vec2d& cv::viz::Camera::getPrincipalPoint ( ) const

inline

const Size& cv::viz::Camera::getWindowSize ( ) const

inline

static Camera cv::viz::Camera::KinectCamera ( const Size &  window_size )

static

Creates a Kinect Camera with.

• fx = fy = 525
• cx = 320
• cy = 240

Parameters

window_size

Size of the window. This together with intrinsic matrix of a Kinect Camera determines the field of view.

void cv::viz::Camera::setClip ( const Vec2d &  clip )

inline

void cv::viz::Camera::setFov ( const Vec2d &  fov )

inline

void cv::viz::Camera::setWindowSize

(

const Size &

window_size

)

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

• contrib/modules/viz/include/opencv2/viz/types.hpp