The IntrinsicData is a wrapper for an IntrinsicData object. IntrinsicData objects represent the intrinsic camera parameters (focal length, principal point, skew and distortion parameters).
More...
Inherits IDisposable.
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| IntrinsicData (int width, int height, double fxNorm, double fyNorm, double cxNorm, double cyNorm, double skewNorm) |
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| IntrinsicData (IntPtr handle, bool owner) |
| Internal constructor of IntrinsicData. More...
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IntrinsicData | Clone () |
| Creates a copy of this object and returns a Wrapper of it. More...
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void | Dispose () |
| Explicitly releases references to unmanaged resources. More...
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bool | GetCalibrated () |
| Returns whether the intrinsic parameters are valid. More...
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double | GetCalibrationError () |
| Returns the calibration error. More...
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double | GetCxNorm () |
| Returns the normalized x-component of the principal point. More...
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double | GetCyNorm () |
| Returns the normalized y-component of the principal point. More...
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double | GetFxNorm () |
| Returns the normalized focal length of the intrinsic camera calibration in x direction. More...
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double | GetFyNorm () |
| Returns the normalized focal length of the intrinsic camera calibration in y direction. More...
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IntPtr | getHandle () |
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int | GetHeight () |
| Returns the height of the intrinsic camera calibration. More...
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bool | GetProjectionMatrix (float nearFact, float farFact, int screenWidth, int screenHeight, RenderRotation renderRotation, int mode, float[] matrix) |
| Computed the projection matrix from the intrinsic camera parameters. More...
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bool | GetRadialDistortion (double[] k) |
| Retrieves the radial distortion parameters. More...
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double | GetSkewNorm () |
| Returns the normalized skew of the intrinsic camera calibration. More...
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int | GetWidth () |
| Returns the width of the intrinsic camera calibration. More...
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bool | SetRadialDistortion (double[] k) |
| Sets the radial distortion parameters. More...
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The IntrinsicData is a wrapper for an IntrinsicData object. IntrinsicData objects represent the intrinsic camera parameters (focal length, principal point, skew and distortion parameters).
◆ IntrinsicData()
Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.IntrinsicData |
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IntPtr |
handle, |
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bool |
owner |
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Internal constructor of IntrinsicData.
This constructor is used internally by the VisionLib.
- Parameters
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handle | Handle to the native object. |
owner | true , if the IntrinsicData is the owner of the native object; false , otherwise. |
◆ Clone()
IntrinsicData Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.Clone |
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Creates a copy of this object and returns a Wrapper of it.
- Returns
- A wrapper of a copy of this object.
◆ Dispose()
void Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.Dispose |
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Explicitly releases references to unmanaged resources.
Call Dispose when you are finished using the IntrinsicData. The Dispose method leaves the IntrinsicData in an unusable state. After calling Dispose, you must release all references to the IntrinsicData so the garbage collector can reclaim the memory that the IntrinsicData was occupying.
◆ GetCalibrated()
bool Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetCalibrated |
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Returns whether the intrinsic parameters are valid.
A intrinsic camera calibration used for tracking should always be valid.
- Returns
true
, if the intrinsic calibration is valid; false
otherwise.
◆ GetCalibrationError()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetCalibrationError |
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Returns the calibration error.
The re-projection error in pixel. This is interesting for evaluating the quality of a camera calibration.
- Returns
- NormalizedThe re-projection error in pixel.
◆ GetCxNorm()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetCxNorm |
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Returns the normalized x-component of the principal point.
The x-component was normalized through a division by the width of the camera calibration.
- Returns
- Normalized x-component of the principal point.
◆ GetCyNorm()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetCyNorm |
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Returns the normalized y-component of the principal point.
The y-component was normalized through a division by the height of the camera calibration.
- Returns
- Normalized y-component of the principal point.
◆ GetFxNorm()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetFxNorm |
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Returns the normalized focal length of the intrinsic camera calibration in x direction.
The focal length in x direction was normalized through a division by the width of the camera calibration.
- Returns
- Normalized focal length in x direction.
◆ GetFyNorm()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetFyNorm |
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Returns the normalized focal length of the intrinsic camera calibration in y direction.
The focal length in y direction was normalized through a division by the height of the camera calibration.
- Returns
- Normalized focal length in y direction.
◆ GetHeight()
int Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetHeight |
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Returns the height of the intrinsic camera calibration.
- Returns
- The height in pixels.
◆ GetProjectionMatrix()
bool Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetProjectionMatrix |
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float |
nearFact, |
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float |
farFact, |
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int |
screenWidth, |
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int |
screenHeight, |
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RenderRotation |
renderRotation, |
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int |
mode, |
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float[] |
matrix |
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Computed the projection matrix from the intrinsic camera parameters.
The returned matrix is stored in the following order (column-major order):
- Returns
true
, if the projection matrix was gotten successfully; false
otherwise.
- Parameters
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nearFact | Value for the near clipping plane. |
farFact | Value for the far clipping plane. |
screenWidth | Width of the screen. |
screenHeight | Height of the screen. |
renderRotation | How the rendering is rotated relative to the orientation of the images received from the VisionLib. E.g., if the rendering happens in landscape-left mode and the images are also in landscape-left mode, then RenderRotation.CCW0 should be used. If the rendering happens in portrait mode, but the images are in landscape-left mode, then RenderRotation.CCW270 should be used. A default rotation for a given ScreenRotation can be obtained from CameraHelper.GetRenderRotation. |
mode | The mode defines how to handle mismatching aspect ratios. Right now the mode value is ignored, but later we will support different modes like 'cover' (scale the projection surface up until it covers the whole screen) and 'contain' (scale the projection surface down until it is completely contained inside the screen). |
matrix | Float array with 16 elements for storing the projection matrix. |
◆ GetRadialDistortion()
bool Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetRadialDistortion |
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double[] |
k | ) |
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Retrieves the radial distortion parameters.
- Returns
true
, on success; false
otherwise.
- Parameters
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k | Double array with 5 elements for storing the distortion parameters. |
◆ GetSkewNorm()
double Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetSkewNorm |
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Returns the normalized skew of the intrinsic camera calibration.
The skew was normalized through a division by the width of the camera calibration.
- Returns
- Normalized skew.
◆ GetWidth()
int Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.GetWidth |
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Returns the width of the intrinsic camera calibration.
- Returns
- The width in pixels.
◆ SetRadialDistortion()
bool Visometry.VisionLib.SDK.Core.API.Native.IntrinsicData.SetRadialDistortion |
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double[] |
k | ) |
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Sets the radial distortion parameters.
- Returns
true
, on success; false
otherwise.
- Parameters
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t | Double array with 5 elements, which contains the distortion parameters. |