Struct ILLIXR::data_format::camera_intrinsics

ClassList > ILLIXR > data_format > camera_intrinsics

Pinhole camera intrinsics scaled to the delivered image resolution. More...

• #include <semantics.hpp>

Public Attributes

Type	Name
float	cx = 0.[**f**](namespaceILLIXR.md#function-normalize) Principal point x in pixels.
float	cy = 0.[**f**](namespaceILLIXR.md#function-normalize) Principal point y in pixels.
float	fx = 0.[**f**](namespaceILLIXR.md#function-normalize) Horizontal focal length in pixels.
float	fy = 0.[**f**](namespaceILLIXR.md#function-normalize) Vertical focal length in pixels.
int32_t	height = 0
int32_t	width = 0

Detailed Description

For the RGB camera these are read from Camera2 ACameraMetadata (ACAMERA_LENS_INTRINSIC_CALIBRATION) at the delivered resolution.

For the depth sensor these are derived from XrDepthSensorIntrinsicsMETA FOV tangents using the standard pinhole model: fx = width / (tan_right + tan_left) fy = height / (tan_top + tan_down) cx = tan_left * fx cy = tan_top * fy (cy from top — image is delivered top-down)

Public Attributes Documentation

variable cx

Principal point x in pixels.

float ILLIXR::data_format::camera_intrinsics::cx;

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variable cy

Principal point y in pixels.

float ILLIXR::data_format::camera_intrinsics::cy;

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variable fx

Horizontal focal length in pixels.

float ILLIXR::data_format::camera_intrinsics::fx;

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variable fy

Vertical focal length in pixels.

float ILLIXR::data_format::camera_intrinsics::fy;

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variable height

int32_t ILLIXR::data_format::camera_intrinsics::height;

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variable width

int32_t ILLIXR::data_format::camera_intrinsics::width;

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The documentation for this class was generated from the following file /home/friedel/devel/ILLIXR/illixr_release/ILLIXR/include/illixr/data_format/semantics.hpp