Intrinsics Class Reference

Camera intrinsics data structure. More...

#include <types.hpp>

Public Member Functions
cv::Mat	ToCameraMatrix () const
	Generate camera matrix from intrinsics. More...
cv::Mat	ToDistortionVector () const
	Generate distortion vector from intrinsics. More...

Public Attributes
double	f_x {0.01}
	X focal length [px]. More...
double	f_y {0.01}
	Y focal length [px].
double	k_1 {0.0}
	Radial coefficient 1.
double	k_2 {0.0}
	Radial coefficient 2.
double	p_1 {0.0}
	Tangential coefficient 1.
double	p_2 {0.0}
	Tangential coefficient 1.
double	width {1920}
	Image width [px].
double	height {1080}
	Image height [px].
double	pixel_size {5.0e-6}
	Pixel size [mm].

Detailed Description

Camera intrinsics data structure.

Member Function Documentation

ToCameraMatrix()

cv::Mat Intrinsics::ToCameraMatrix

(

)

const

Generate camera matrix from intrinsics.

Returns

Camera matrix

ToDistortionVector()

cv::Mat Intrinsics::ToDistortionVector

(

)

const

Generate distortion vector from intrinsics.

Returns

Distortion vector

Member Data Documentation

f_x

double Intrinsics::f_x {0.01}

X focal length [px].

Todo:

Develop better defaults

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

• src/ekf/types.hpp
• src/ekf/types.cpp