raisim::CameraIntrinsics

struct · #include <raisim/sensors/CameraLens.hpp>

Pinhole-style camera intrinsics in pixels. Unset values (non-positive focal lengths, NaN principal point) are derived from the image size and horizontal FOV by resolveCameraIntrinsics().

Public member functions

hasExplicitFocalLength

bool hasExplicitFocalLength() const

Returns true if both fx and fy are finite and positive.

hasExplicitPrincipalPoint

bool hasExplicitPrincipalPoint() const

Returns true if both cx and cy are finite.

Public attributes

fx

double fx

Horizontal focal length in pixels (<= 0: derive from hFOV).

fy

double fy

Vertical focal length in pixels (<= 0: derive from hFOV).

cx

double cx

Principal point x in pixels (NaN: image center).

cy

double cy

Principal point y in pixels (NaN: image center).