CalibrationParameters Struct Reference

Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation). More...

Attributes
CameraParameters	leftCam
	Intrinsic sl.CameraParameters of the left camera. More...
CameraParameters	rightCam
	Intrinsic sl.CameraParameters of the right camera. More...
Quaternion	Rot
	Left to right camera rotation, expressed in user coordinate system and unit (defined by sl.InitParameters.coordinateSystem). More...
Vector3	Trans
	Left to right camera translation, expressed in user coordinate system and unit (defined by sl.InitParameters.coordinateSystem). More...

Detailed Description

Structure containing intrinsic and extrinsic parameters of the camera (translation and rotation).

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

Note

The calibration/rectification process, called during sl.Camera.Open(), is using the raw parameters defined in the SNXXX.conf file, where XXX is the serial number of the camera.

Those values may be adjusted or not by the self-calibration to get a proper image alignment.

After sl.Camera.Open() is done (with or without self-calibration activated), 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 sl.Camera.RetrieveImage()) are aligned as if they were taken by a "perfect" stereo camera, defined by the new sl.CalibrationParameters.

Warning

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

Note

For more info, read about the ZED SDK C++ struct it mirrors: CalibrationParameters

Variables

leftCam

CameraParameters leftCam

Intrinsic sl.CameraParameters of the left camera.

Referenced by Camera.GetFOV().

rightCam

CameraParameters rightCam

Intrinsic sl.CameraParameters of the right camera.

Rot

Quaternion Rot

Left to right camera rotation, expressed in user coordinate system and unit (defined by sl.InitParameters.coordinateSystem).

Trans

Vector3 Trans

Left to right camera translation, expressed in user coordinate system and unit (defined by sl.InitParameters.coordinateSystem).