Public Attributes
IntArray< 2 >	size
	image size in pixels (width, height)

Array< 2 >	principal
	principal point in pixels \((c_x, c_y)\)

Array< 2 >	focal
	focal length in pixels \((f_x, f_y)\)

Pose	rig_from_camera
	transformation from coordinate frame of the camera to frame of the rig

Distortion	distortion
	distortion parameters

int32_t	border_top {0}
	offset from the top border where visual features will be ignored (default: 0)

int32_t	border_bottom {0}
	offset from the bottom border where visual features will be ignored (default: 0)

int32_t	border_left {0}
	offset from the left border where visual features will be ignored (default: 0)

int32_t	border_right {0}
	offset from the right border where visual features will be ignored (default: 0)

Detailed Description

Camera parameters.

Describes intrinsic and extrinsic parameters of a camera and per-camera settings.

For camera coordinate system top left pixel has (0, 0) coordinate (y is down, x is right). It's compatible with ROS CameraInfo/OpenCV.

Member Data Documentation

IntArray<2> cuvslam::Camera::size

image size in pixels (width, height)

Array<2> cuvslam::Camera::principal

principal point in pixels \((c_x, c_y)\)

Array<2> cuvslam::Camera::focal

focal length in pixels \((f_x, f_y)\)

Pose cuvslam::Camera::rig_from_camera

transformation from coordinate frame of the camera to frame of the rig

Distortion cuvslam::Camera::distortion

distortion parameters

int32_t cuvslam::Camera::border_top {0}

offset from the top border where visual features will be ignored (default: 0)

int32_t cuvslam::Camera::border_bottom {0}

offset from the bottom border where visual features will be ignored (default: 0)

int32_t cuvslam::Camera::border_left {0}

offset from the left border where visual features will be ignored (default: 0)

int32_t cuvslam::Camera::border_right {0}

offset from the right border where visual features will be ignored (default: 0)