Shared camera intrinsic and image metadata for frames. More...

Collaboration diagram for FrameInfo:

Public Member Functions
	FrameInfo (const Vector< 2, uint04 > &size, const cv::Mat &mDistCoef, const cv::Mat &mK, GeometricCamera *camera, fltp04 thDepth, fltp04 mbf)
	Constructs FrameInfo from camera parameters.

Public Attributes
float	cx
	Principal point x.
float	cy
	Principal point y.
float	fx
	Focal length in x.
float	fy
	Focal length in y.
Bounds< 2, fltp04 >	image_bounds
	Undistorted image bounds.
Vector< 2, uint04 >	image_size
	Image dimensions in pixels.
float	invfx
	Inverse of fx.
float	invfy
	Inverse of fy.
const cv::Mat	K
	Camera intrinsic matrix.
LogPtr	log = LogPtr()
	Logger instance.
float	mb = 0.0f
	Stereo baseline in meters.
float	mbf = 0.0f
	Stereo baseline multiplied by fx.
const cv::Mat	mDistCoef
	Distortion coefficients.
float	mfGridElementHeightInv
	Inverse of grid cell height in pixels.
float	mfGridElementWidthInv
	Inverse of grid cell width in pixels.
GeometricCamera *	pCamera = nullptr
	Associated geometric camera model.
fltp04	thDepth
	Near/far depth threshold.

Detailed Description

Shared camera intrinsic and image metadata for frames.

Stores camera parameters, grid dimensions, distortion coefficients, and image bounds that are shared across all frames from the same camera.

Definition at line 69 of file Frame.h.

Constructor & Destructor Documentation

Constructs FrameInfo from camera parameters.

Parameters

References mbf, mDistCoef, and thDepth.

The documentation for this struct was generated from the following file: