Camera Intrinsics

Experimental APIs for computing and estimating camera intrinsic parameters and for querying the pixel-mapping between sensor and projector pixels. These APIs reside in Zivid::Experimental::Calibration and may change without prior notice.

        %%{init: {'themeVariables': {'fontSize': '18px'}, 'flowchart': {'nodeSpacing': 30, 'rankSpacing': 35}}}%%
flowchart LR
  Camera
  Settings
  Settings2D
  Frame

  intrinsicsOp(["intrinsics()"])
  estimateOp(["estimateIntrinsics()"])
  pixelMappingOp(["pixelMapping()"])

  CameraIntrinsics
  PixelMapping

  Camera -.-> intrinsicsOp --> CameraIntrinsics
  Settings -.-> intrinsicsOp
  Settings2D -.-> intrinsicsOp
  Frame -.-> estimateOp --> CameraIntrinsics
  Camera -.-> pixelMappingOp --> PixelMapping
  Settings -.-> pixelMappingOp

  classDef zividClass fill:#4A8FA4,stroke:#34323D,color:#FFFFFF
  classDef api fill:#91D2C8,stroke:#4A8FA4,color:#000000
  class Camera,Settings,Settings2D,Frame,CameraIntrinsics,PixelMapping zividClass
  class intrinsicsOp,estimateOp,pixelMappingOp api
    

intrinsics

Returns the camera intrinsic parameters for a given camera and, optionally, capture settings. Three overloads are available: camera-only, camera plus Settings, and camera plus Settings2D.

C++

CameraIntrinsicsintrinsics( Camera&const camera)

Intrinsic parameters of a given camera.

These intrinsic parameters are only appropriate for the resolution that the default 3D settings for the given camera provides. If planning to capture with settings other than the default 3D then use intrinsics(const Camera &camera, const Settings &settings) or intrinsics(const Camera &camera, const Settings2D &settings2d), or one can estimate the intrinsics from the frame after capture with estimateIntrinsics. Note! If there is a mismatch between 2D and 3D resolution then use intrinsics(const Camera &camera, const Settings2D &settings2d).

パラメータ:

camera -- Reference to camera instance.

戻り値:

A CameraIntrinsics instance.

CameraIntrinsicsintrinsics( Camera&const camera, Settings&const settings)

Intrinsic parameters of a given camera and settings.

These intrinsic parameters take into account the expected resolution of the point clouds captured with these settings.

Note: This function returns intrinsics for a fixed temperature and aperture value. The only part of Settings currently used by this function is Settings::Sampling::Pixel and Settings::Processing::Resampling::Mode.

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings::Color. This function returns intrinsics applicable for the 3D point cloud resolution. You can use intrinsics(const Camera &camera, const Settings2D &settings2d) with Settings::Color for 2D intrinsics.

パラメータ:

• camera -- Reference to camera instance.

• settings -- Reference to settings instance.

戻り値:

A CameraIntrinsics instance.

CameraIntrinsicsintrinsics( Camera&const camera, Settings2D&const settings2d)

Intrinsic parameters of a given camera and 2D settings.

These intrinsics will match the resolution of a 2D capture done using this camera with the provided Settings2D.

パラメータ:

• camera -- Reference to camera instance.

• settings2d -- Reference to a 2D settings instance.

戻り値:

A CameraIntrinsics instance.

C#

Calibratorclass

Public Static Functions

static CameraIntrinsics ^ Intrinsics (Zivid::NET::Camera ^ camera)

Intrinsic parameters of a given camera.

These intrinsic parameters are only appropriate for the resolution that the default 3D settings for the given camera provides. If planning to capture with settings other than the default 3D then use Experimental::Calibration::Calibrator::Intrinsics(Camera ^camera, Settings ^settings) or Experimental::Calibration::Calibrator::Intrinsics(Camera ^camera, Settings2D ^settings2d), or one can estimate the intrinsics from the frame after capture with . Note! If there is a mismatch between 2D and 3D resolution then use .

パラメータ:

camera -- Reference to camera instance.

戻り値:

A CameraIntrinsics instance.

static CameraIntrinsics ^ Intrinsics (Zivid::NET::Camera ^ camera, Zivid::NET::Settings ^ settings)

Intrinsic parameters of a given camera and settings.

These intrinsic parameters take into account the expected resolution of the point clouds captured with these settings.

Note: This function returns intrinsics for a fixed temperature and aperture value. The only part of Settings currently used by this function is Settings::Sampling::Pixel and Settings::Processing::Resampling::Mode.

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings::Color. This function returns intrinsics applicable for the 3D point cloud resolution. You can use Experimental::Calibration::Calibrator::Intrinsics(Camera ^camera, Settings2D ^settings2d) with Settings::Color for 2D intrinsics.

パラメータ:

• camera -- Reference to camera instance.

• settings -- Reference to settings instance.

戻り値:

A CameraIntrinsics instance.

static CameraIntrinsics ^ Intrinsics (Zivid::NET::Camera ^ camera, Zivid::NET::Settings2D ^ settings2d)

Intrinsic parameters of a given camera and 2D settings.

These intrinsics will match the resolution of a 2D capture done using this camera with the provided Settings2D.

パラメータ:

• camera -- Reference to camera instance.

• settings2d -- Reference to a 2D settings instance.

戻り値:

A CameraIntrinsics instance.

Python

intrinsics(

:Cameracamera ,

:Settings | Settings2D | None=Nonesettings ,

) → CameraIntrinsics

Get intrinsic parameters of a given camera and settings (3D or 2D).

These intrinsic parameters take into account the expected resolution of the point clouds captured with the given settings. If settings are not provided, intrinsics appropriate for the camera's default 3D capture settings is returned.

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings.color. This function returns intrinsics applicable for the 3D point cloud resolution. You can call this function with a Settings2D instance for the 2D intrinsics.

パラメータ:

• camera -- A Camera instance

• settings -- Settings or Settings2D to be used to get correct intrinsics (optional)

戻り値:

A CameraIntrinsics instance

例外:

TypeError -- If settings argument is not Settings or Settings2D

estimateIntrinsics

Estimates intrinsic parameters from a captured Frame without access to the camera object directly. Useful when only a saved frame is available.

C++

CameraIntrinsicsestimateIntrinsics( Frame&const frame)

Estimate camera intrinsics for a given frame.

The estimated parameters may be used to project 3D point cloud onto the corresponding 2D image. This function is for advanced use cases. Otherwise, use intrinsics(const Camera &camera) or intrinsics(const Camera &camera, const Settings &settings).

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings::Color. This function returns intrinsics applicable for the 3D point cloud resolution.

パラメータ:

frame -- Reference to frame instance.

戻り値:

A CameraIntrinsics instance.

C#

Calibratorclass

Public Static Functions

static CameraIntrinsics ^ EstimateIntrinsics (Zivid::NET::Frame ^ frame)

Estimate camera intrinsics for a given frame.

The estimated parameters may be used to project 3D point cloud onto the corresponding 2D image. This function is for advanced use cases. Otherwise, use Experimental::Calibration::Calibrator::Intrinsics(Camera ^camera) or Experimental::Calibration::Calibrator::Intrinsics(Camera ^camera, Settings ^settings).

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings::Color. This function returns intrinsics applicable for the 3D point cloud resolution.

パラメータ:

frame -- Reference to frame instance.

戻り値:

A CameraIntrinsics instance.

Python

estimate_intrinsics(

:Frameframe ,

) → CameraIntrinsics

Estimate camera intrinsics for a given frame.

The estimated parameters may be used to project 3D point cloud onto the corresponding 2D image. This function is for advanced use cases. Otherwise, use intrinsics(camera).

For a 2D+3D capture, the 2D color image and 3D point cloud may have different resolutions, depending on the pixel sampling and resampling settings used in the Settings and in the Settings.color. This function returns intrinsics applicable for the 3D point cloud resolution.

パラメータ:

frame -- A Frame instance

戻り値:

A CameraIntrinsics instance

pixelMapping

Returns the mapping between camera sensor pixels and projector pixels for a given camera and capture settings.

C++

PixelMappingpixelMapping( Camera&const camera, Settings&const settings)

Return mapping between 3D pixels and 2D pixels given camera and settings.

A Settings object contains specifications for capturing a 3D point cloud and (optionally) a 2D image. In the cases where the 2D image is of higher resolution than the 3D point cloud, it can be useful to know how the index/coordinate of a given 3D pixel maps to index/coordinate in the 2D image. This function provides that information via a PixelMapping object. For a given 3D index (row3d, col3d), the corresponding 2D index is:

row2d = row3d*rowStride + rowOffset
col2d = col3d*colStride + colOffset

Note that the offsets may be non-integers. This implies that there is no exact match between the 3D pixel coordinates and the 2D pixel coordinates. Rounding off the result will give the closest matching index in the 2D image.

In cases where the given Settings object specifies that 2D capture is disabled, this function returns the mapping from the point cloud to a hypothetical full-resolution 2D image. In cases where the given Settings object specifies a 2D image of lower resolution than the 3D point cloud, this function will throw an exception.

パラメータ:

• camera -- Reference to camera instance.

• settings -- Reference to settings instance.

戻り値:

A PixelMapping instance.

C#

Pixel mapping is exposed through the C++ and Python APIs. See the C++ and C# API reference for the full reference.

Python

pixel_mapping(

:Cameracamera ,

:Settingssettings ,

) → PixelMapping

Return pixel mapping information given camera and settings.

When mapping from a subsampled point cloud to a full resolution 2D image it is important to get the pixel mapping correct. This mapping depends on camera model and settings. This function provides the correct parameters to map the 2D coordinates in a point cloud captured using settings to the full resolution of the camera.

パラメータ:

• camera -- Reference to camera instance.

• settings -- Reference to settings instance.

戻り値:

A PixelMapping instance.

CameraIntrinsics

The intrinsic parameters returned by intrinsics and estimateIntrinsics (camera matrix and distortion coefficients).

C++

CameraIntrinsicsclass

Information about the intrinsic parameters of the camera (OpenCV model)

Public Functions

CameraIntrinsics()

Default constructor.

CameraIntrinsics( stdstring&const:: fileName)explicit

Construct CameraIntrinsics by loading from file.

stdstringserialize()const::

Serialize to a string.

See also fromSerialized. The returned string is formatted in YAML, and is compatible with the contents of files saved using save.

< Argstemplatetypename...>
CameraIntrinsics(Args& &...args)inlineexplicit

Constructor taking variadic number of arguments.

One or more descendant types can be provided. All types not provided will be set to their default value. The result is the same as default constructing CameraIntrinsics then invoking set(args).

The provided arguments must be descendants of CameraIntrinsics. These types can be provided:

• CameraIntrinsics::CameraMatrix

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

• CameraIntrinsics::Distortion

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

< Argstemplatetypename...>
set(Args& &...args)inlinevoid

Set multiple arguments.

The method invokes set(arg) with each of the provided arguments.

The provided arguments must be descendants of CameraIntrinsics. These types can be provided:

• CameraIntrinsics::CameraMatrix

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

• CameraIntrinsics::Distortion

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

< Argstemplatetypename...>
CameraIntrinsicscopyWith(Args& &...args)constinline

Returns a copy of this object with the given argument(s) set to the new value(s)

Creates a copy of this CameraIntrinsics object, then invokes set(args) on the copy, and finally returns the copy. This method does not modify the original object.

The provided arguments must be descendants of CameraIntrinsics. These types can be provided:

• CameraIntrinsics::CameraMatrix

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

• CameraIntrinsics::Distortion

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

CameraMatrix&cameraMatrix()constinlineconst

Get CameraMatrix.

CameraMatrix&cameraMatrix()inline

Get CameraMatrix.

CameraIntrinsics&set( CameraMatrix&const value)inline

Set CameraMatrix.

CameraIntrinsics&set( CameraMatrixCX&const:: value)inline

Set CameraMatrix::CX.

CameraIntrinsics&set( CameraMatrixCY&const:: value)inline

Set CameraMatrix::CY.

CameraIntrinsics&set( CameraMatrixFX&const:: value)inline

Set CameraMatrix::FX.

CameraIntrinsics&set( CameraMatrixFY&const:: value)inline

Set CameraMatrix::FY.

Distortion&distortion()constinlineconst

Get Distortion.

Distortion&distortion()inline

Get Distortion.

CameraIntrinsics&set( Distortion&const value)inline

Set Distortion.

CameraIntrinsics&set( DistortionK1&const:: value)inline

Set Distortion::K1.

CameraIntrinsics&set( DistortionK2&const:: value)inline

Set Distortion::K2.

CameraIntrinsics&set( DistortionK3&const:: value)inline

Set Distortion::K3.

CameraIntrinsics&set( DistortionP1&const:: value)inline

Set Distortion::P1.

CameraIntrinsics&set( DistortionP2&const:: value)inline

Set Distortion::P2.

< Ftemplatetypename>
forEach( F&const f)constinlinevoid

Run the given function on each direct member with the value of the member as parameter.

< Ftemplatetypename>
forEach( F&const f)inlinevoid

Run the given function on each direct member with the value of the member as parameter.

==operator( CameraIntrinsics&const other)constbool

Equality operator.

!=operator( CameraIntrinsics&const other)constbool

Inequality operator.

stdstringtoString()const::

Get the value as string.

save( stdstring&const:: fileName)constvoid

Save to the given file.

load( stdstring&const:: fileName)void

Load from the given file.

Public Static Functions

CameraIntrinsicsfromSerialized( stdstring&const:: value)static

Construct a new CameraIntrinsics instance from a previously serialized string.

See also serialize.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypegroupstaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* ""

The full path for this value.

name={}staticconstexprconstchar* "CameraIntrinsics"

The name of this value.

static constexpr const char * description  {R"description(Information about the intrinsic parameters of the camera (OpenCV model))description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, CameraIntrinsics&const value)inlinefriend::

Operator to send the value as string to a stream.

CameraMatrixclass

The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1])

Public Functions

CameraMatrix()

Default constructor.

< Argstemplatetypename...>
CameraMatrix(Args& &...args)inlineexplicit

Constructor taking variadic number of arguments.

One or more descendant types can be provided. All types not provided will be set to their default value. The result is the same as default constructing CameraMatrix then invoking set(args).

The provided arguments must be descendants of CameraMatrix. These types can be provided:

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

< Argstemplatetypename...>
set(Args& &...args)inlinevoid

Set multiple arguments.

The method invokes set(arg) with each of the provided arguments.

The provided arguments must be descendants of CameraMatrix. These types can be provided:

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

< Argstemplatetypename...>
CameraMatrixcopyWith(Args& &...args)constinline

Returns a copy of this object with the given argument(s) set to the new value(s)

Creates a copy of this CameraMatrix object, then invokes set(args) on the copy, and finally returns the copy. This method does not modify the original object.

The provided arguments must be descendants of CameraMatrix. These types can be provided:

• CameraIntrinsics::CameraMatrix::CX

• CameraIntrinsics::CameraMatrix::CY

• CameraIntrinsics::CameraMatrix::FX

• CameraIntrinsics::CameraMatrix::FY

CX&cx()constinlineconst

Get CX.

CX&cx()inline

Get CX.

CameraMatrix&set( CX&const value)inline

Set CX.

CY&cy()constinlineconst

Get CY.

CY&cy()inline

Get CY.

CameraMatrix&set( CY&const value)inline

Set CY.

FX&fx()constinlineconst

Get FX.

FX&fx()inline

Get FX.

CameraMatrix&set( FX&const value)inline

Set FX.

FY&fy()constinlineconst

Get FY.

FY&fy()inline

Get FY.

CameraMatrix&set( FY&const value)inline

Set FY.

< Ftemplatetypename>
forEach( F&const f)constinlinevoid

Run the given function on each direct member with the value of the member as parameter.

< Ftemplatetypename>
forEach( F&const f)inlinevoid

Run the given function on each direct member with the value of the member as parameter.

==operator( CameraMatrix&const other)constbool

Equality operator.

!=operator( CameraMatrix&const other)constbool

Inequality operator.

stdstringtoString()const::

Get the value as string.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypegroupstaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "CameraMatrix"

The full path for this value.

name={}staticconstexprconstchar* "CameraMatrix"

The name of this value.

static constexpr const char * description  {R"description(The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1]))description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, CameraMatrix&const value)inlinefriend::

Operator to send the value as string to a stream.

CXclass

x coordinate of the principal point

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

CX()=default

Default constructor.

CX( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( CX&const other)constinlinebool

Comparison operator.

!=operator( CX&const other)constinlinebool

Comparison operator.

<operator( CX&const other)constinlinebool

Comparison operator.

>operator( CX&const other)constinlinebool

Comparison operator.

<=operator( CX&const other)constinlinebool

Comparison operator.

>=operator( CX&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for CX.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "CameraMatrix/CX"

The full path for this value.

name={}staticconstexprconstchar* "CX"

The name of this value.

static constexpr const char * description  {R"description(x coordinate of the principal point)description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, CX&const value)inlinefriend::

Operator to serialize the value to a stream.

CYclass

y coordinate of the principal point

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

CY()=default

Default constructor.

CY( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( CY&const other)constinlinebool

Comparison operator.

!=operator( CY&const other)constinlinebool

Comparison operator.

<operator( CY&const other)constinlinebool

Comparison operator.

>operator( CY&const other)constinlinebool

Comparison operator.

<=operator( CY&const other)constinlinebool

Comparison operator.

>=operator( CY&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for CY.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "CameraMatrix/CY"

The full path for this value.

name={}staticconstexprconstchar* "CY"

The name of this value.

static constexpr const char * description  {R"description(y coordinate of the principal point)description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, CY&const value)inlinefriend::

Operator to serialize the value to a stream.

FXclass

Focal length in x.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

FX()=default

Default constructor.

FX( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( FX&const other)constinlinebool

Comparison operator.

!=operator( FX&const other)constinlinebool

Comparison operator.

<operator( FX&const other)constinlinebool

Comparison operator.

>operator( FX&const other)constinlinebool

Comparison operator.

<=operator( FX&const other)constinlinebool

Comparison operator.

>=operator( FX&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for FX.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "CameraMatrix/FX"

The full path for this value.

name={}staticconstexprconstchar* "FX"

The name of this value.

static constexpr const char * description   = { R"description(Focal length in x)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, FX&const value)inlinefriend::

Operator to serialize the value to a stream.

FYclass

Focal length in y.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

FY()=default

Default constructor.

FY( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( FY&const other)constinlinebool

Comparison operator.

!=operator( FY&const other)constinlinebool

Comparison operator.

<operator( FY&const other)constinlinebool

Comparison operator.

>operator( FY&const other)constinlinebool

Comparison operator.

<=operator( FY&const other)constinlinebool

Comparison operator.

>=operator( FY&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for FY.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "CameraMatrix/FY"

The full path for this value.

name={}staticconstexprconstchar* "FY"

The name of this value.

static constexpr const char * description   = { R"description(Focal length in y)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, FY&const value)inlinefriend::

Operator to serialize the value to a stream.

Distortionclass

The radial and tangential distortion parameters.

Public Functions

Distortion()

Default constructor.

< Argstemplatetypename...>
Distortion(Args& &...args)inlineexplicit

Constructor taking variadic number of arguments.

One or more descendant types can be provided. All types not provided will be set to their default value. The result is the same as default constructing Distortion then invoking set(args).

The provided arguments must be descendants of Distortion. These types can be provided:

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

< Argstemplatetypename...>
set(Args& &...args)inlinevoid

Set multiple arguments.

The method invokes set(arg) with each of the provided arguments.

The provided arguments must be descendants of Distortion. These types can be provided:

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

< Argstemplatetypename...>
DistortioncopyWith(Args& &...args)constinline

Returns a copy of this object with the given argument(s) set to the new value(s)

Creates a copy of this Distortion object, then invokes set(args) on the copy, and finally returns the copy. This method does not modify the original object.

The provided arguments must be descendants of Distortion. These types can be provided:

• CameraIntrinsics::Distortion::K1

• CameraIntrinsics::Distortion::K2

• CameraIntrinsics::Distortion::K3

• CameraIntrinsics::Distortion::P1

• CameraIntrinsics::Distortion::P2

K1&k1()constinlineconst

Get K1.

K1&k1()inline

Get K1.

Distortion&set( K1&const value)inline

Set K1.

K2&k2()constinlineconst

Get K2.

K2&k2()inline

Get K2.

Distortion&set( K2&const value)inline

Set K2.

K3&k3()constinlineconst

Get K3.

K3&k3()inline

Get K3.

Distortion&set( K3&const value)inline

Set K3.

P1&p1()constinlineconst

Get P1.

P1&p1()inline

Get P1.

Distortion&set( P1&const value)inline

Set P1.

P2&p2()constinlineconst

Get P2.

P2&p2()inline

Get P2.

Distortion&set( P2&const value)inline

Set P2.

< Ftemplatetypename>
forEach( F&const f)constinlinevoid

Run the given function on each direct member with the value of the member as parameter.

< Ftemplatetypename>
forEach( F&const f)inlinevoid

Run the given function on each direct member with the value of the member as parameter.

==operator( Distortion&const other)constbool

Equality operator.

!=operator( Distortion&const other)constbool

Inequality operator.

stdstringtoString()const::

Get the value as string.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypegroupstaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion"

The full path for this value.

name={}staticconstexprconstchar* "Distortion"

The name of this value.

static constexpr const char * description  {R"description(The radial and tangentialdistortionparameters)description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, Distortion&const value)inlinefriend::

Operator to send the value as string to a stream.

K1class

First radial distortion term.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

K1()=default

Default constructor.

K1( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( K1&const other)constinlinebool

Comparison operator.

!=operator( K1&const other)constinlinebool

Comparison operator.

<operator( K1&const other)constinlinebool

Comparison operator.

>operator( K1&const other)constinlinebool

Comparison operator.

<=operator( K1&const other)constinlinebool

Comparison operator.

>=operator( K1&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for K1.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion/K1"

The full path for this value.

name={}staticconstexprconstchar* "K1"

The name of this value.

static constexpr const char * description   = { R"description(First radial distortion term)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, K1&const value)inlinefriend::

Operator to serialize the value to a stream.

K2class

Second radial distortion term.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

K2()=default

Default constructor.

K2( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( K2&const other)constinlinebool

Comparison operator.

!=operator( K2&const other)constinlinebool

Comparison operator.

<operator( K2&const other)constinlinebool

Comparison operator.

>operator( K2&const other)constinlinebool

Comparison operator.

<=operator( K2&const other)constinlinebool

Comparison operator.

>=operator( K2&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for K2.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion/K2"

The full path for this value.

name={}staticconstexprconstchar* "K2"

The name of this value.

static constexpr const char * description   = { R"description(Second radial distortion term)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, K2&const value)inlinefriend::

Operator to serialize the value to a stream.

K3class

Third radial distortion term.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

K3()=default

Default constructor.

K3( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( K3&const other)constinlinebool

Comparison operator.

!=operator( K3&const other)constinlinebool

Comparison operator.

<operator( K3&const other)constinlinebool

Comparison operator.

>operator( K3&const other)constinlinebool

Comparison operator.

<=operator( K3&const other)constinlinebool

Comparison operator.

>=operator( K3&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for K3.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion/K3"

The full path for this value.

name={}staticconstexprconstchar* "K3"

The name of this value.

static constexpr const char * description   = { R"description(Third radial distortion term)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, K3&const value)inlinefriend::

Operator to serialize the value to a stream.

P1class

First tangential distortion term.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

P1()=default

Default constructor.

P1( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( P1&const other)constinlinebool

Comparison operator.

!=operator( P1&const other)constinlinebool

Comparison operator.

<operator( P1&const other)constinlinebool

Comparison operator.

>operator( P1&const other)constinlinebool

Comparison operator.

<=operator( P1&const other)constinlinebool

Comparison operator.

>=operator( P1&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for P1.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion/P1"

The full path for this value.

name={}staticconstexprconstchar* "P1"

The name of this value.

static constexpr const char * description   = { R"description(First tangential distortion term)description" }

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, P1&const value)inlinefriend::

Operator to serialize the value to a stream.

P2class

Second tangential distortion term.

Public Types

ValueType=doubleusing

The type of the underlying value.

Public Functions

P2()=default

Default constructor.

P2( doublevalue)inlineexplicitconstexpr

Constructor.

value()constdouble

Get the value.

stdstringtoString()const::

Get the value as string.

==operator( P2&const other)constinlinebool

Comparison operator.

!=operator( P2&const other)constinlinebool

Comparison operator.

<operator( P2&const other)constinlinebool

Comparison operator.

>operator( P2&const other)constinlinebool

Comparison operator.

<=operator( P2&const other)constinlinebool

Comparison operator.

>=operator( P2&const other)constinlinebool

Comparison operator.

Public Static Functions

Rangedouble validRange()staticinlineconstexpr<>

The range of valid values for P2.

Public Static Attributes

DataModelNodeTypenodeType=DataModelNodeTypeleafValuestaticconstexpr:: ::::

The type of this node.

path={}staticconstexprconstchar* "Distortion/P2"

The full path for this value.

name={}staticconstexprconstchar* "P2"

The name of this value.

static constexpr const char * description  {R"description(Second tangentialdistortionterm)description"}

The description for this value.

Friends

stdostream&<<operator(stdostream&:: stream, P2&const value)inlinefriend::

Operator to serialize the value to a stream.

C#

CameraIntrinsicsstruct

Information about the intrinsic parameters of the camera (OpenCV model)

Public Functions

System::String ^ Serialize ()

Serialize to a string.

See also FromSerialized. The returned string is formatted in YAML, and is compatible with the contents of files saved using Save.

void Save (System::String ^ fileName)

Save to the given file.

void Load (System::String ^ fileName)

Load from the given file.

CameraIntrinsics()inline

Constructor.

CameraIntrinsics ^ CopyWith (CopyWithDelegate ^ delegate)

Create a clone (deep copy) of the current instance and invoke delegate on the clone.

Creates a clone (deep copy) of this object, then invokes the delegate function on the clone, and finally returns the clone. This method can be used to create a clone of an instance and then change one or more properties on the clone in one method call. The current instance is unchanged.

CameraIntrinsics ^ Clone ()

Create a clone (deep copy) of the current instance.

System::String ^ ToString () override

Get string representation of the object.

Public Static Attributes

static CameraIntrinsics(System::String ^ fileName) CameraIntrinsics FromSerialized )(System::String ^ value)

Construct CameraIntrinsics by loading from file.

Construct a new CameraIntrinsics instance from a previously serialized string

See also Serialize.

CameraMatrixGroupstruct

The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1])

Public Functions

CameraMatrixGroup()inline

Constructor.

CameraMatrixGroup ^ CopyWith (CopyWithDelegate ^ delegate)

Create a clone (deep copy) of the current instance and invoke delegate on the clone.

Creates a clone (deep copy) of this object, then invokes the delegate function on the clone, and finally returns the clone. This method can be used to create a clone of an instance and then change one or more properties on the clone in one method call. The current instance is unchanged.

CameraMatrixGroup ^ Clone ()

Create a clone (deep copy) of the current instance.

System::String ^ ToString () override

Get string representation of the object.

Properties

CXdouble

x coordinate of the principal point

CYdouble

y coordinate of the principal point

FXdouble

Focal length in x.

FYdouble

Focal length in y.

DistortionGroupstruct

The radial and tangential distortion parameters.

Public Functions

DistortionGroup()inline

Constructor.

DistortionGroup ^ CopyWith (CopyWithDelegate ^ delegate)

Create a clone (deep copy) of the current instance and invoke delegate on the clone.

Creates a clone (deep copy) of this object, then invokes the delegate function on the clone, and finally returns the clone. This method can be used to create a clone of an instance and then change one or more properties on the clone in one method call. The current instance is unchanged.

DistortionGroup ^ Clone ()

Create a clone (deep copy) of the current instance.

System::String ^ ToString () override

Get string representation of the object.

Properties

K1double

First radial distortion term.

K2double

Second radial distortion term.

K3double

Third radial distortion term.

P1double

First tangential distortion term.

P2double

Second tangential distortion term.

Python

classCameraIntrinsics(

:CameraIntrinsics | None=Nonecamera_matrix ,

:CameraIntrinsics | None=Nonedistortion ,

)

Information about the intrinsic parameters of the camera (OpenCV model)

Initialization

classCameraMatrix(

:float | int=0.0cx ,

:float | int=0.0cy ,

:float | int=0.0fx ,

:float | int=0.0fy ,

)

The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1])

Initialization

propertycx

x coordinate of the principal point

propertycy

y coordinate of the principal point

propertyfx

Focal length in x

propertyfy

Focal length in y

classDistortion(

:float | int=0.0k1 ,

:float | int=0.0k2 ,

:float | int=0.0k3 ,

:float | int=0.0p1 ,

:float | int=0.0p2 ,

)

The radial and tangential distortion parameters

Initialization

propertyk1

First radial distortion term

propertyk2

Second radial distortion term

propertyk3

Third radial distortion term

propertyp1

First tangential distortion term

propertyp2

Second tangential distortion term

propertycamera_matrix

The camera matrix K (=[fx,0,cx;0,fy,cy;0,0,1])

propertydistortion

The radial and tangential distortion parameters

classmethodload(file_name)

Construct CameraIntrinsics by loading from file

save(file_name)

Save to the given file

classmethodfrom_serialized(value)

Construct a new CameraIntrinsics instance from a previously serialized string

See also serialize.

serialize()

Serialize to a string

See also from_serialized. The returned string is formatted in YAML, and is compatible with the contents of files saved using save.

PixelMapping

The mapping returned by pixelMapping describing how camera sensor pixels relate to projector pixels.

C++

PixelMappingclass

Pixel mapping from subsampled to full resolution.

Required when mapping an index in a subsampled point cloud to e.g. a full resolution 2D image.

Public Functions

rowStride()constinlineint

Row stride.

Use it as the increment in a loop when looping through full resolution along rows.

colStride()constinlineint

Col stride.

Use it as the increment in a loop when looping through full resolution along columns.

rowOffset()constinlinefloat

Offset in y, or row.

Initialize the row counter to this value.

colOffset()constinlinefloat

Offset in x, or column.

Initialize the column counter to this value.

ZIVID_UTILS_EXPORT std::string toString () const

Get string representation.

ZIVID_UTILS_EXPORT bool operator== (const PixelMapping &rhs) const

Check for equality.

ZIVID_UTILS_EXPORT bool operator!= (const PixelMapping &rhs) const

Check for inequality.

C#

The pixel mapping is exposed through the C++ and Python APIs. See the C++ and C# API reference for the full reference.

Python

classPixelMapping(

:int=1row_stride ,

:int=1col_stride ,

:float=0.0row_offset ,

:float=0.0col_offset ,

)

Pixel mapping from subsampled to full resolution.

Required when mapping an index in a subsampled point cloud to e.g. a full resolution 2D image.

Initialization

propertyrow_stride int:

propertycol_stride int:

propertyrow_offset float:

propertycol_offset float:

See also

• Projection

• SDK 変更履歴