CameraParameters Class Reference

Class containing the intrinsic parameters of a camera. More...

Functions
float	fx (self)
	Focal length in pixels along x axis.
float	fy (self)
	Focal length in pixels along y axis.
float	cx (self)
	Optical center along x axis, defined in pixels (usually close to width / 2).
float	cy (self)
	Optical center along y axis, defined in pixels (usually close to height / 2).
list[float]	disto (self)
	Distortion factor : [k1, k2, p1, p2, k3, k4, k5, k6, s1, s2, s3, s4]. More...
None	set_disto (self, float value1, float value2, float value3, float value4, float value5)
	Sets the elements of the disto array. More...
float	v_fov (self)
	Vertical field of view, in degrees.
float	h_fov (self)
	Horizontal field of view, in degrees.
float	d_fov (self)
	Diagonal field of view, in degrees.
Resolution	image_size (self)
	Size in pixels of the images given by the camera.
float	focal_length_metric (self)
	Real focal length in millimeters.
None	set_up (self, float fx_, float fy_, float cx_, float cy_)
	Setups the parameters of a camera. More...
CameraParameters	scale (self, Resolution resolution)
	Return the sl.CameraParameters for another resolution. More...

Detailed Description

Class containing the intrinsic parameters of a camera.

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

Note

Similar to the sl.CalibrationParameters, those parameters are taken from the settings file (SNXXX.conf) and are modified during the sl.Camera.open() call when running a self-calibration).

Those parameters given after sl.Camera.open() call, represent the camera matrix corresponding to rectified or unrectified images.

When filled with rectified parameters, fx, fy, cx, cy must be the same for left and right camera once sl.Camera.open() has been called.

Since distortion is corrected during rectification, distortion should not be considered on rectified images.

Functions

disto()

list[float] disto

(

self

)

Distortion factor : [k1, k2, p1, p2, k3, k4, k5, k6, s1, s2, s3, s4].

Radial (k1, k2, k3, k4, k5, k6), Tangential (p1,p2) and Prism (s1, s2, s3, s4) distortion.

set_disto()

None set_disto	(		self,
		float	value1,
		float	value2,
		float	value3,
		float	value4,
		float	value5
	)

Sets the elements of the disto array.

Parameters

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

set_up()

None set_up	(		self,
		float	fx_,
		float	fy_,
		float	cx_,
		float	cy_
	)

Setups the parameters of a camera.

Parameters

fx_	: Horizontal focal length
fy_	: Vertical focal length
cx_	: Horizontal optical center
cx_	: Vertical optical center.

scale()

CameraParameters scale	(		self,
		Resolution	resolution
	)

Return the sl.CameraParameters for another resolution.

Parameters

resolution

: Resolution in which to get the new sl.CameraParameters.

Returns

The sl.CameraParameters for the resolution given as input.