ROS2::CameraUtils Namespace Reference

Namespace contains utility functions for camera. More...

Functions
float	GetAspectRatio (float width, float height)
AZ::Matrix3x3	MakeCameraIntrinsics (int width, int height, float verticalFieldOfViewDeg)
AZ::Matrix4x4	MakeClipMatrix (int width, int height, float verticalFieldOfViewDeg, float nearDist=0.1f, float farDist=100.0f)

Detailed Description

Namespace contains utility functions for camera.

Function Documentation

GetAspectRatio()

float ROS2::CameraUtils::GetAspectRatio	(	float	width,
		float	height
	)

Function computes aspect ratio of the image.

Parameters

width	Width of the image in pixels
height	Height of the image in pixels.

Returns

Aspect ratio of the image.

MakeCameraIntrinsics()

AZ::Matrix3x3 ROS2::CameraUtils::MakeCameraIntrinsics	(	int	width,
		int	height,
		float	verticalFieldOfViewDeg
	)

Function computes 3x3 projection matrix (pinhole model) from camera config.

Parameters

height	Height of the image in pixels.
width	Width of the image in pixels
verticalFieldOfViewDeg	Vertical field of view of the camera in degrees.

Returns

projection matrix for computer vision applications.

MakeClipMatrix()

AZ::Matrix4x4 ROS2::CameraUtils::MakeClipMatrix	(	int	width,
		int	height,
		float	verticalFieldOfViewDeg,
		float	nearDist = 0.1f,
		float	farDist = 100.0f
	)

Function computes 4x4 projection matrix (frustum model) from camera config.

Parameters

height	Height of the image in pixels.
height	Height of the image in pixels.
verticalFieldOfViewDeg	Vertical field of view of the camera in degrees.
farDist	Far clipping plane distance in meters.
nearDist	Near clipping plane distance in meters.

Returns

projection matrix for the rendering.