open3d.camera.PinholeCameraIntrinsic#

class open3d.camera.PinholeCameraIntrinsic#

PinholeCameraIntrinsic class stores intrinsic camera matrix, and image height and width.

__init__(*args, **kwargs)#

Overloaded function.

  1. __init__(self: open3d.camera.PinholeCameraIntrinsic) -> None

    Default constructor

  2. __init__(self: open3d.camera.PinholeCameraIntrinsic, arg0: open3d.camera.PinholeCameraIntrinsic) -> None

    Copy constructor

Parameters:

arg0 (open3d.camera.PinholeCameraIntrinsic) –

  1. __init__(self: open3d.camera.PinholeCameraIntrinsic, width: typing.SupportsInt, height: typing.SupportsInt, intrinsic_matrix: typing.Annotated[numpy.typing.ArrayLike, numpy.float64, ) -> None

Parameters:

  • width (SupportsInt) –

  • height (SupportsInt) –

  • intrinsic_matrix (Annotated[numpy.typing.ArrayLike, numpy.float64,) –

  1. __init__(self: open3d.camera.PinholeCameraIntrinsic, width: typing.SupportsInt, height: typing.SupportsInt, fx: typing.SupportsFloat, fy: typing.SupportsFloat, cx: typing.SupportsFloat, cy: typing.SupportsFloat) -> None

Parameters:

  • width (SupportsInt) –

  • height (SupportsInt) –

  • fx (SupportsFloat) –

  • fy (SupportsFloat) –

  • cx (SupportsFloat) –

  • cy (SupportsFloat) –

  1. __init__(self: open3d.camera.PinholeCameraIntrinsic, param: open3d.camera.PinholeCameraIntrinsicParameters) -> None

Parameters:

param (open3d.camera.PinholeCameraIntrinsicParameters) –

get_focal_length(self: open3d.camera.PinholeCameraIntrinsic) → tuple[float, float]#

Returns the focal length in a tuple of X-axis and Y-axisfocal lengths.

Returns:

tuple[float, float]

get_principal_point(self: open3d.camera.PinholeCameraIntrinsic) → tuple[float, float]#

Returns the principle point in a tuple of X-axis and.Y-axis principle points

Returns:

tuple[float, float]

get_skew(self: open3d.camera.PinholeCameraIntrinsic) → float#

Returns the skew.

Returns:

float

is_valid(self: open3d.camera.PinholeCameraIntrinsic) → bool#

Returns True iff both the width and height are greater than 0.

Returns:

bool

set_intrinsics(self: open3d.camera.PinholeCameraIntrinsic, width: SupportsInt, height: SupportsInt, fx: SupportsFloat, fy: SupportsFloat, cx: SupportsFloat, cy: SupportsFloat) → None#

Set camera intrinsic parameters.

Parameters:

  • width (SupportsInt) – Width of the image.

  • height (SupportsInt) – Height of the image.

  • fx (SupportsFloat) – X-axis focal length

  • fy (SupportsFloat) – Y-axis focal length.

  • cx (SupportsFloat) – X-axis principle point.

  • cy (SupportsFloat) – Y-axis principle point.

Returns:

None

property height#

Height of the image.

Type:

int

property intrinsic_matrix#

Intrinsic camera matrix [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]

Type:

3x3 numpy array

property width#

Width of the image.

Type:

int