raisim::CameraLensModel

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

Lens description of a camera sensor: projection model, intrinsics and fisheye distortion.

Public member functions

isFisheye

bool isFisheye() const

Returns true if the projection is FISHEYE_EQUIDISTANT.

projectionName

std::string projectionName() const

Returns toString(projection).

distortionModel

std::string distortionModel() const

Returns cameraDistortionModel(projection).

setOpenCvFisheye

void setOpenCvFisheye(
    double fx,
    double fy,
    double cx,
    double cy,
    double k1=0.0,
    double k2=0.0,
    double k3=0.0,
    double k4=0.0)

Switch to the equidistant fisheye projection with OpenCV-fisheye style parameters.

Parameters

Parameter	Description
fx (in)	Horizontal focal length in pixels.
fy (in)	Vertical focal length in pixels.
cx (in)	Principal point x in pixels.
cy (in)	Principal point y in pixels.
k1 (in)	Distortion coefficient k1.
k2 (in)	Distortion coefficient k2.
k3 (in)	Distortion coefficient k3.
k4 (in)	Distortion coefficient k4.

Public attributes

projection

CameraProjectionType projection

Projection model.

intrinsics

CameraIntrinsics intrinsics

Optional explicit intrinsics (see CameraIntrinsics).

fisheye

CameraFisheyeDistortion fisheye

Fisheye distortion coefficients (metadata).