An explicit camera: rigid pose plus pinhole intrinsics. More...

#include <render_view.hpp>

Collaboration diagram for reusex::visualize::CameraSpec:

Public Attributes
std::array< double, 16 >	pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}
	Row-major 4x4 camera-to-world transform.
double	fx = 0.0
	focal length in pixels (x)
double	fy = 0.0
	focal length in pixels (y)
double	cx = 0.0
	principal point in pixels (x)
double	cy = 0.0
	principal point in pixels (y)

Detailed Description

An explicit camera: rigid pose plus pinhole intrinsics.

The layout deliberately matches what ProjectDB hands out for a captured frame — ProjectDB::sensor_frame_pose() (row-major, camera-to-world) and SensorIntrinsics — so rendering the scene from a recorded viewpoint is a copy, not a conversion. Axes follow the OpenCV camera convention used throughout the pipeline: +x right, +y down, +z forward along the view.

Definition at line 97 of file render_view.hpp.

Member Data Documentation

◆ cx

double reusex::visualize::CameraSpec::cx = 0.0

principal point in pixels (x)

Definition at line 102 of file render_view.hpp.

◆ cy

double reusex::visualize::CameraSpec::cy = 0.0

principal point in pixels (y)

Definition at line 103 of file render_view.hpp.

◆ fx

double reusex::visualize::CameraSpec::fx = 0.0

focal length in pixels (x)

Definition at line 100 of file render_view.hpp.

◆ fy

double reusex::visualize::CameraSpec::fy = 0.0

focal length in pixels (y)

Definition at line 101 of file render_view.hpp.

◆ pose

std::array<double, 16> reusex::visualize::CameraSpec::pose {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}

Row-major 4x4 camera-to-world transform.

Definition at line 99 of file render_view.hpp.

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

libs/reusex/include/visualize/render_view.hpp