OpenCV: cv::viz::Camera Class Reference

| OpenCV 3.4.2 Open Source Computer Vision

Public Member Functions | Static Public Member Functions | List of all members
cv::viz::Camera Class Reference
3D Visualizer

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

`#include "types.hpp"`

## Public Member Functions
| Camera (double fx, double fy, double cx, double cy, const Size &window_size)
| Constructs a Camera. More...
| 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. More...
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. More...

## 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

## ◆ Camera() [1/4]

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.

## ◆ Camera() [2/4]

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.

## ◆ Camera() [3/4]

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.

## ◆ Camera() [4/4]

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

## ◆ computeProjectionMatrix()

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 \[ \begin{bmatrix} \frac{2n}{r-l} & 0 & \frac{r+l}{r-l} & 0\\ 0 & \frac{2n}{t-b} & \frac{t+b}{t-b} & 0\\ 0 & 0 & -\frac{f+n}{f-n} & -\frac{2fn}{f-n}\\ 0 & 0 & -1 & 0\\ \end{bmatrix} \]

## ◆ getClip()

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

## ◆ getFocalLength()

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

## ◆ getFov()

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

## ◆ getPrincipalPoint()

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

## ◆ getWindowSize()

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

## ◆ KinectCamera()

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.

## ◆ setClip()

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

## ◆ setFov()

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

## ◆ setWindowSize()

void cv::viz::Camera::setWindowSize | ( | const Size & | window_size | ) |

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

- viz/include/opencv2/viz/types.hpp