The VLExtrinsicDataWrapper is a wrapper for an ExtrinsicData object. ExtrinsicData objects represent the extrinsic camera parameters (position and orientation). More...

Inherits IDisposable.

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

	VLExtrinsicDataWrapper (Quaternion q, Vector3 t)

VLExtrinsicDataWrapper	Clone ()
	Creates a copy of this object and returns a Wrapper of it. More...

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

bool	GetCamPosWorld (float[] pos)
	Returns the position $P_{cam}$ of the camera in world coordinates. More...

IntPtr	getHandle ()

Matrix4x4	GetModelViewMatrix ()
	Returns the current camera pose as model-view matrix. More...

bool	GetR (float[] q)
	Returns the rotation from the world coordinate system to the camera coordinate system. More...

bool	GetT (float[] t)
	Returns the translation from the world coordinate system to the camera coordinate system. More...

bool	GetValid ()
	Returns whether the current tracking pose is valid (the tracking was successful). More...

bool	SetCamPosWorld (float[] pos)
	Sets the position $P_{cam}$ of the camera in world coordinates. More...

bool	SetFromCamera (Camera camera)

bool	SetR (float[] q)
	Sets the rotation from the world coordinate system to the camera coordinate system. More...

bool	SetT (float[] t)
	Sets the translation from the world coordinate system to the camera coordinate system. More...

bool	SetValid (bool value)

Detailed Description

The VLExtrinsicDataWrapper is a wrapper for an ExtrinsicData object. ExtrinsicData objects represent the extrinsic camera parameters (position and orientation).

See also: VLDataSetWrapper.GetExtrinsicData

Constructor & Destructor Documentation

◆ VLExtrinsicDataWrapper()

VLExtrinsicDataWrapper.VLExtrinsicDataWrapper	(	IntPtr	handle,
		bool	owner
	)

inline

Constructor of VLExtrinsicDataWrapper.

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 VLExtrinsicDataWrapper is the owner of the native object; `false`, otherwise.

Member Function Documentation

◆ Clone()

VLExtrinsicDataWrapper VLExtrinsicDataWrapper.Clone ( )

inline

Creates a copy of this object and returns a Wrapper of it.

Returns: A wrapper of a copy of this object.

◆ Dispose()

void VLExtrinsicDataWrapper.Dispose ( )

inline

Explicitly releases references to unmanaged resources.

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

◆ GetCamPosWorld()

bool VLExtrinsicDataWrapper.GetCamPosWorld ( float [] pos )

inline

Returns the position $P_{cam}$ of the camera in world coordinates.

Internally the position $P_{cam}$ will be computed from the transformation $(R,t)$ which transforms a 3D point from world coordinates into camera coordinates ( $P_{cam} = -R^{-1}t$ ).

Returns: true, if the position was acquired successfully; false otherwise.

Parameters

pos	Float array with 3 elements for storing the position.

◆ GetModelViewMatrix()

Matrix4x4 VLExtrinsicDataWrapper.GetModelViewMatrix ( )

inline

Returns the current camera pose as model-view matrix.

The returned matrix assumes a right-handed coordinate system. Throws an InvalidOperationExcception, if the ModelViewMatrix is invalid or can not be retrieved.

◆ GetR()

bool VLExtrinsicDataWrapper.GetR ( float [] q )

inline

Returns the rotation $R$ from the world coordinate system to the camera coordinate system.

Please notice, that $(R,t)$ represents the transformation of a 3D point $P_w$ from world coordinates into a 3D point $P_c$ in camera coordinates: $P_c = RP_w + t$ .

Returns: true, if the rotation was acquired successfully; false otherwise.

Parameters

q	Float array with 4 elements for storing the rotation as quaternion.

◆ GetT()

bool VLExtrinsicDataWrapper.GetT ( float [] t )

inline

Returns the translation $t$ from the world coordinate system to the camera coordinate system.

Please notice, that $(R,t)$ represents the transformation of a 3D point $P_w$ from world coordinates into a 3D point $P_c$ in camera coordinates: $P_c = RP_w + t$ .

Returns: true, if the translation was acquired successfully; false otherwise.

Parameters

t	Float array with 3 elements for storing the translation.

◆ GetValid()

bool VLExtrinsicDataWrapper.GetValid ( )

inline

Returns whether the current tracking pose is valid (the tracking was successful).

Returns: true, if the current tracking pose is valid; false otherwise.

◆ SetCamPosWorld()

bool VLExtrinsicDataWrapper.SetCamPosWorld ( float [] pos )

inline

Sets the position $P_{cam}$ of the camera in world coordinates.

Internally this will be stored as a transformation $(R,t)$ of a 3D point from world coordinates into camera coordinates ( $t = -RP_{cam}$ ).

Returns: true, if the position was acquired successfully; false otherwise.

Parameters

pos	Float array with 3 elements , which contains the position.

◆ SetR()

bool VLExtrinsicDataWrapper.SetR ( float [] q )

inline

Sets the rotation $R$ from the world coordinate system to the camera coordinate system.

Please notice, that $(R,t)$ represents the transformation of a 3D point $P_w$ from world coordinates into a 3D point $P_c$ in camera coordinates: $P_c = RP_w + t$ .

Returns: true, if the rotation was set successfully; false otherwise.

Parameters

q	Float array with 4 elements , which contains the rotation as quaternion.

◆ SetT()

bool VLExtrinsicDataWrapper.SetT ( float [] t )

inline

Sets the translation $t$ from the world coordinate system to the camera coordinate system.

Please notice, that $(R,t)$ represents the transformation of a 3D point $P_w$ from world coordinates into a 3D point $P_c$ in camera coordinates: $P_c = RP_w + t$ .

Returns: true, if the translation was set successfully; false otherwise.

Parameters

t	Float array with 3 elements , which contain the translation.

documentation

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VLExtrinsicDataWrapper()

Member Function Documentation

◆ Clone()

◆ Dispose()

◆ GetCamPosWorld()

◆ GetModelViewMatrix()

◆ GetR()

◆ GetT()

◆ GetValid()

◆ SetCamPosWorld()

◆ SetR()

◆ SetT()