The VLIntrinsicDataWrapper 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.

Public Member Functions
	VLIntrinsicDataWrapper (IntPtr handle, bool owner)
	Constructor of VLIntrinsicDataWrapper. More...

	VLIntrinsicDataWrapper (int width, int height, double fxNorm, double fyNorm, double cxNorm, double cyNorm, double skewNorm)

IntPtr	getHandle ()

void	Dispose ()
	Explicitly releases references to unmanaged resources. More...

int	GetWidth ()
	Returns the width of the intrinsic camera calibration. More...

int	GetHeight ()
	Returns the height of the intrinsic camera calibration. More...

double	GetFxNorm ()
	Returns the normalized focal length of the intrinsic camera calibration in x direction. More...

double	GetFyNorm ()
	Returns the normalized focal length of the intrinsic camera calibration in y direction. More...

double	GetSkewNorm ()
	Returns the normalized skew of the intrinsic camera calibration. More...

double	GetCxNorm ()
	Returns the normalized x-component of the principal point. More...

double	GetCyNorm ()
	Returns the normalized y-component of the principal point. More...

bool	GetCalibrated ()
	Returns whether the intrinsic parameters are valid. More...

double	GetCalibrationError ()
	Returns the calibration error. More...

bool	GetRadialDistortion (double[] k)
	Retrieves the radial distortion parameters. More...

bool	SetRadialDistortion (double[] k)
	Sets the radial distortion parameters. More...

bool	GetProjectionMatrix (float nearFact, float farFact, int screenWidth, int screenHeight, VLRenderRotation renderRotation, int mode, float[] matrix)
	Computed the projection matrix from the intrinsic camera parameters. More...

bool	GetProjectionMatrix (float nearFact, float farFact, int screenWidth, int screenHeight, ScreenOrientation screenOrientation, int mode, float[] matrix)
	Legacy interface receiving ScreenOrientation parameter (c.f. VLUnityCameraHelper.GetRenderRotation). Use method overload receiving a VLRenderRotation instead. More...

Detailed Description

The VLIntrinsicDataWrapper is a wrapper for an IntrinsicData object. IntrinsicData objects represent the intrinsic camera parameters (focal length, principal point, skew and distortion parameters).

See also: VLDataSetWrapper.GetIntrinsicData

Constructor & Destructor Documentation

◆ VLIntrinsicDataWrapper() [1/2]

VLIntrinsicDataWrapper.VLIntrinsicDataWrapper	(	IntPtr	handle,
		bool	owner
	)

inline

Constructor of VLIntrinsicDataWrapper.

Don't call this constructor directly. Use the VLAbstractApplicationWrapper.GetDataSet and VLDataSetWrapper.GetIntrinsicData methods instead.

Parameters

handle	Handle to the native object.
owner	`true`, if the VLIntrinsicDataWrapper is the owner of the native object; `false`, otherwise.

◆ VLIntrinsicDataWrapper() [2/2]

VLIntrinsicDataWrapper.VLIntrinsicDataWrapper	(	int	width,
		int	height,
		double	fxNorm,
		double	fyNorm,
		double	cxNorm,
		double	cyNorm,
		double	skewNorm
	)

inline

Member Function Documentation

◆ Dispose()

void VLIntrinsicDataWrapper.Dispose ( )

inline

Explicitly releases references to unmanaged resources.

Call Dispose when you are finished using the VLIntrinsicDataWrapper. The Dispose method leaves the VLIntrinsicDataWrapper in an unusable state. After calling Dispose, you must release all references to the VLIntrinsicDataWrapper so the garbage collector can reclaim the memory that the VLIntrinsicDataWrapper was occupying.

◆ GetCalibrated()

bool VLIntrinsicDataWrapper.GetCalibrated ( )

inline

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 VLIntrinsicDataWrapper.GetCalibrationError ( )

inline

Returns the calibration error.

The reprojection error in pixel. This is interesting for evaluating the quality of a camera calibration.

Returns: NormalizedThe reprojection error in pixel.

◆ GetCxNorm()

double VLIntrinsicDataWrapper.GetCxNorm ( )

inline

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 VLIntrinsicDataWrapper.GetCyNorm ( )

inline

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 VLIntrinsicDataWrapper.GetFxNorm ( )

inline

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 VLIntrinsicDataWrapper.GetFyNorm ( )

inline

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.

◆ getHandle()

IntPtr VLIntrinsicDataWrapper.getHandle ( )

inline

◆ GetHeight()

int VLIntrinsicDataWrapper.GetHeight ( )

inline

Returns the height of the intrinsic camera calibration.

Returns: The height in pixels.

◆ GetProjectionMatrix() [1/2]

bool VLIntrinsicDataWrapper.GetProjectionMatrix	(	float	nearFact,
		float	farFact,
		int	screenWidth,
		int	screenHeight,
		VLRenderRotation	renderRotation,
		int	mode,
		float []	matrix
	)

inline

Computed the projection matrix from the intrinsic camera parameters.

The returned matrix is stored in the following order (column-major order):

$\begin{bmatrix} 0 & 4 & 8 & 12\\ 1 & 5 & 9 & 13\\ 2 & 6 & 10 & 14\\ 3 & 7 & 11 & 15\\ \end{bmatrix}$

Returns: true, if the projection matrix was gotten successfully; false otherwise.

Parameters

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 VLRenderRotation.CCW0 should be used. If the rendering happens in portrait mode, but the images are in landscape-left mode, then VLRenderRotation.CCW270 should be used. A default rotation for a given ScreenRotation can be obtained from VLUnityCameraHelper.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.

◆ GetProjectionMatrix() [2/2]

bool VLIntrinsicDataWrapper.GetProjectionMatrix	(	float	nearFact,
		float	farFact,
		int	screenWidth,
		int	screenHeight,
		ScreenOrientation	screenOrientation,
		int	mode,
		float []	matrix
	)

inline

Legacy interface receiving ScreenOrientation parameter (c.f. VLUnityCameraHelper.GetRenderRotation). Use method overload receiving a VLRenderRotation instead.

◆ GetRadialDistortion()

bool VLIntrinsicDataWrapper.GetRadialDistortion ( double [] k )

inline

Retrieves the radial distortion parameters.

Returns: true, on success; false otherwise.

Parameters

k	Double array with 5 elements for storing the distortion parameters.

◆ GetSkewNorm()

double VLIntrinsicDataWrapper.GetSkewNorm ( )

inline

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 VLIntrinsicDataWrapper.GetWidth ( )

inline

Returns the width of the intrinsic camera calibration.

Returns: The width in pixels.

◆ SetRadialDistortion()

bool VLIntrinsicDataWrapper.SetRadialDistortion ( double [] k )

inline

Sets the radial distortion parameters.

Returns: true, on success; false otherwise.

Parameters

t	Double array with 5 elements, which contains the distortion parameters.

documentation

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VLIntrinsicDataWrapper() [1/2]

◆ VLIntrinsicDataWrapper() [2/2]

Member Function Documentation

◆ Dispose()

◆ GetCalibrated()

◆ GetCalibrationError()

◆ GetCxNorm()

◆ GetCyNorm()

◆ GetFxNorm()

◆ GetFyNorm()

◆ getHandle()

◆ GetHeight()

◆ GetProjectionMatrix() [1/2]

◆ GetProjectionMatrix() [2/2]

◆ GetRadialDistortion()

◆ GetSkewNorm()

◆ GetWidth()

◆ SetRadialDistortion()