Functions for managing IntrinsicDataWrapper objects. More...

Functions
VL_SDK_API void VL_CALLINGCONVENTION	vlDelete_IntrinsicDataWrapper (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Deletes an IntrinsicDataWrapper object. More...

VL_SDK_API vlIntrinsicDataWrapper_t *VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_Clone (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Creates a copy of the IntrinsicDataWrapper object and returns a pointer to it. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetCalibrated (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns whether the intrinsic parameters are valid. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetCalibrationError (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the calibration error. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetCxNorm (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the normalized x-component of the principal point. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetCyNorm (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the normalized y-component of the principal point. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetDistortionParameters (vlIntrinsicDataWrapper_t *intrinsicDataWrapper, double k[], unsigned int elementCount)
	Retrieves the radial and tangential distortion parameters. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetFxNorm (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the normalized focal length of the intrinsic camera calibration in x direction. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetFyNorm (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the normalized focal length of the intrinsic camera calibration in y direction. More...

VL_SDK_API unsigned int VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetHeight (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the height of the intrinsic camera calibration. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetProjectionMatrix (vlIntrinsicDataWrapper_t *intrinsicDataWrapper, float nearFact, float farFact, unsigned int screenWidth, unsigned int screenHeight, unsigned int renderRotation, unsigned int mode, float matrix[], unsigned int matrixElementCount)
	Computed the projection matrix from the intrinsic camera parameters. More...

VL_SDK_API double VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetSkewNorm (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the normalized skew of the intrinsic camera calibration. More...

VL_SDK_API unsigned int VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_GetWidth (vlIntrinsicDataWrapper_t *intrinsicDataWrapper)
	Returns the width of the intrinsic camera calibration. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlIntrinsicDataWrapper_SetDistortionParameters (vlIntrinsicDataWrapper_t *intrinsicDataWrapper, const double k[], unsigned int elementCount)
	Sets the radial and tangential distortion parameters. More...

VL_SDK_API vlIntrinsicDataWrapper_t *VL_CALLINGCONVENTION	vlNew_IntrinsicDataWrapper (unsigned int width, unsigned int height, double fxNorm, double fyNorm, double cxNorm, double cyNorm, double skewNorm)
	Creates a new IntrinsicDataWrapper object and returns a pointer to it. More...

Detailed Description

Functions for managing IntrinsicDataWrapper objects.

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

Function Documentation

◆ vlDelete_IntrinsicDataWrapper()

VL_SDK_API void VL_CALLINGCONVENTION vlDelete_IntrinsicDataWrapper ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Deletes an IntrinsicDataWrapper object.

Call this function if you used the vlNew_IntrinsicDataWrapper function to create the object and you are now done using it.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

◆ vlIntrinsicDataWrapper_Clone()

VL_SDK_API vlIntrinsicDataWrapper_t *VL_CALLINGCONVENTION vlIntrinsicDataWrapper_Clone ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Creates a copy of the IntrinsicDataWrapper object and returns a pointer to it.

This pointer must be released using vlDelete_IntrinsicDataWrapper.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: A pointer to the new IntrinsicDataWrapper object.

◆ vlIntrinsicDataWrapper_GetCalibrated()

VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCalibrated ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns whether the intrinsic parameters are valid.

A intrinsic camera calibration used for tracking should always be valid.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: true, if the intrinsic calibration is valid; false otherwise.

◆ vlIntrinsicDataWrapper_GetCalibrationError()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCalibrationError ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the calibration error.

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

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: The reprojection error in pixel.

◆ vlIntrinsicDataWrapper_GetCxNorm()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCxNorm ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the normalized x-component of the principal point.

The x-component was normalized through a division by the width of the camera calibration.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: Normalized x-component of the principal point.

◆ vlIntrinsicDataWrapper_GetCyNorm()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetCyNorm ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the normalized y-component of the principal point.

The y-component was normalized through a division by the height of the camera calibration.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: Normalized y-component of the principal point.

◆ vlIntrinsicDataWrapper_GetDistortionParameters()

VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetDistortionParameters	(	vlIntrinsicDataWrapper_t *	intrinsicDataWrapper,
		double	k[],
		unsigned int	elementCount
	)

Retrieves the radial and tangential distortion parameters.

Parameters

intrinsicDataWrapper	Pointer to an IntrinsicDataWrapper object.
k	Double array with 5 elements for storing the distortion parameters.
elementCount	Number of elements in the given array. This should be 5.

Returns: true, on success; false otherwise.

◆ vlIntrinsicDataWrapper_GetFxNorm()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetFxNorm ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

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.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: Normalized focal length in x direction.

◆ vlIntrinsicDataWrapper_GetFyNorm()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetFyNorm ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

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.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: Normalized focal length in y direction.

◆ vlIntrinsicDataWrapper_GetHeight()

VL_SDK_API unsigned int VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetHeight ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the height of the intrinsic camera calibration.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: The height in pixels.

◆ vlIntrinsicDataWrapper_GetProjectionMatrix()

VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetProjectionMatrix	(	vlIntrinsicDataWrapper_t *	intrinsicDataWrapper,
		float	nearFact,
		float	farFact,
		unsigned int	screenWidth,
		unsigned int	screenHeight,
		unsigned int	renderRotation,
		unsigned int	mode,
		float	matrix[],
		unsigned int	matrixElementCount
	)

Computed the projection matrix from the intrinsic camera parameters.

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

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

Parameters

intrinsicDataWrapper	Pointer to an IntrinsicDataWrapper object.
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 image will be rendered in landscape-left mode and the images are also in landscape-left mode, then VL_RENDER_ROTATION_CCW_0 should be used. If the image will be rendered in portrait mode, but the images are in landscape-left mode, then VL_RENDER_ROTATION_CCW_270 should be used.
mode	The mode defines how to handle mismatching aspect ratios. Use VL_FITTING_MODE_COVER to scale the projection surface so that it covers the whole screen. Use VL_FITTING_MODE_CONTAIN to scale the projection surface so that it is completely contained inside the screen.
matrix	Float array with 16 elements for storing the projection matrix.
matrixElementCount	Number of elements in the given array. This should be 16.

Returns: true, on success; false otherwise.

◆ vlIntrinsicDataWrapper_GetSkewNorm()

VL_SDK_API double VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetSkewNorm ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the normalized skew of the intrinsic camera calibration.

The skew was normalized through a division by the width of the camera calibration.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: Normalized skew.

◆ vlIntrinsicDataWrapper_GetWidth()

VL_SDK_API unsigned int VL_CALLINGCONVENTION vlIntrinsicDataWrapper_GetWidth ( vlIntrinsicDataWrapper_t * intrinsicDataWrapper )

Returns the width of the intrinsic camera calibration.

Parameters

intrinsicDataWrapper Pointer to an IntrinsicDataWrapper object.

Returns: The width in pixels.

◆ vlIntrinsicDataWrapper_SetDistortionParameters()

VL_SDK_API bool VL_CALLINGCONVENTION vlIntrinsicDataWrapper_SetDistortionParameters	(	vlIntrinsicDataWrapper_t *	intrinsicDataWrapper,
		const double	k[],
		unsigned int	elementCount
	)

Sets the radial and tangential distortion parameters.

Parameters

intrinsicDataWrapper	Pointer to an IntrinsicDataWrapper object.
k	Double array with 5 elements, which contains the distortion parameters.
elementCount	Number of elements in the given array. This should be 5.

Returns: true, on success; false otherwise.

◆ vlNew_IntrinsicDataWrapper()

VL_SDK_API vlIntrinsicDataWrapper_t *VL_CALLINGCONVENTION vlNew_IntrinsicDataWrapper	(	unsigned int	width,
		unsigned int	height,
		double	fxNorm,
		double	fyNorm,
		double	cxNorm,
		double	cyNorm,
		double	skewNorm
	)

Creates a new IntrinsicDataWrapper object and returns a pointer to it.

This pointer must be released using vlDelete_IntrinsicDataWrapper.

Parameters

width	The width of the intrinsic
height	The height of the intrinsic.
fxNorm	The normalized focal length in x direction of the intrinsic.
fyNorm	The normalized focal length in y direction of the intrinsic.
cxNorm	The normalized x-component of the principal point direction of the intrinsic.
cyNorm	The normalized y-component of the principal point direction of the intrinsic.
skewNorm	The normalized skew of the intrinsic.

Returns: A pointer to the new IntrinsicDataWrapper object.

documentation

Functions

Detailed Description

Function Documentation

◆ vlDelete_IntrinsicDataWrapper()

◆ vlIntrinsicDataWrapper_Clone()

◆ vlIntrinsicDataWrapper_GetCalibrated()

◆ vlIntrinsicDataWrapper_GetCalibrationError()

◆ vlIntrinsicDataWrapper_GetCxNorm()

◆ vlIntrinsicDataWrapper_GetCyNorm()

◆ vlIntrinsicDataWrapper_GetDistortionParameters()

◆ vlIntrinsicDataWrapper_GetFxNorm()

◆ vlIntrinsicDataWrapper_GetFyNorm()

◆ vlIntrinsicDataWrapper_GetHeight()

◆ vlIntrinsicDataWrapper_GetProjectionMatrix()

◆ vlIntrinsicDataWrapper_GetSkewNorm()

◆ vlIntrinsicDataWrapper_GetWidth()

◆ vlIntrinsicDataWrapper_SetDistortionParameters()

◆ vlNew_IntrinsicDataWrapper()