Functions for managing ExtrinsicDataWrapper objects. More...

Functions
VL_SDK_API void VL_CALLINGCONVENTION	vlDelete_ExtrinsicDataWrapper (vlExtrinsicDataWrapper_t *extrinsicDataWrapper)
	Deletes an ExtrinsicDataWrapper object. More...

VL_SDK_API vlExtrinsicDataWrapper_t *VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_Clone (vlExtrinsicDataWrapper_t *extrinsicDataWrapper)
	Creates a copy of the ExtrinsicDataWrapper object and returns a pointer to it. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_GetCamPosWorld (vlExtrinsicDataWrapper_t extrinsicDataWrapper, float t, unsigned int elementCount)
	Returns the position $P_{cam}$ of the camera in world coordinates. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_GetModelViewMatrix (vlExtrinsicDataWrapper_t extrinsicDataWrapper, float matrix, unsigned int matrixElementCount)
	Returns the current camera pose as model-view matrix. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_GetR (vlExtrinsicDataWrapper_t extrinsicDataWrapper, float q, unsigned int elementCount)
	Returns the rotation from the world coordinate system to the camera coordinate system. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_GetT (vlExtrinsicDataWrapper_t extrinsicDataWrapper, float t, unsigned int elementCount)
	Returns the translation from the world coordinate system to the camera coordinate system. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_GetValid (vlExtrinsicDataWrapper_t *extrinsicDataWrapper)
	Returns whether the current tracking pose is valid (the tracking was successful). More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_SetCamPosWorld (vlExtrinsicDataWrapper_t extrinsicDataWrapper, const float t, unsigned int elementCount)
	Sets the position $P_{cam}$ of the camera in world coordinates. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_SetR (vlExtrinsicDataWrapper_t extrinsicDataWrapper, const float q, unsigned int elementCount)
	Sets the rotation from the world coordinate system to the camera coordinate system. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_SetT (vlExtrinsicDataWrapper_t extrinsicDataWrapper, const float t, unsigned int elementCount)
	Sets the translation from the world coordinate system to the camera coordinate system. More...

VL_SDK_API bool VL_CALLINGCONVENTION	vlExtrinsicDataWrapper_SetValid (vlExtrinsicDataWrapper_t *extrinsicDataWrapper, bool value)
	Sets the valid flag of the given ExtrinsicData. More...

VL_SDK_API vlExtrinsicDataWrapper_t *VL_CALLINGCONVENTION	vlNew_ExtrinsicDataWrapper ()
	Creates a new ExtrinsicDataWrapper object and returns a pointer to it. More...

Detailed Description

Functions for managing ExtrinsicDataWrapper objects.

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

Function Documentation

◆ vlDelete_ExtrinsicDataWrapper()

VL_SDK_API void VL_CALLINGCONVENTION vlDelete_ExtrinsicDataWrapper ( vlExtrinsicDataWrapper_t * extrinsicDataWrapper )

Deletes an ExtrinsicDataWrapper object.

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

Parameters

extrinsicDataWrapper Pointer to an ExtrinsicDataWrapper object.

◆ vlExtrinsicDataWrapper_Clone()

VL_SDK_API vlExtrinsicDataWrapper_t *VL_CALLINGCONVENTION vlExtrinsicDataWrapper_Clone ( vlExtrinsicDataWrapper_t * extrinsicDataWrapper )

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

This pointer must be released using vlDelete_ExtrinsicDataWrapper.

Parameters

extrinsicDataWrapper Pointer to an ExtrinsicDataWrapper object.

Returns: A pointer to the new ExtrinsicDataWrapper object.

◆ vlExtrinsicDataWrapper_GetCamPosWorld()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetCamPosWorld	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		float *	t,
		unsigned int	elementCount
	)

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 ( $P_{cam} = -R^{-1}t$ ).

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
t	Float array with 3 elements for storing the position.
elementCount	Number of elements in the given array. This should be 3.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_GetModelViewMatrix()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetModelViewMatrix	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		float *	matrix,
		unsigned int	matrixElementCount
	)

Returns the current camera pose as model-view matrix.

The returned matrix assumes a right-handed coordinate system and 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

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
matrix	Float array with 16 elements for storing the model-view matrix.
matrixElementCount	Number of elements in the given array. This should be 16.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_GetR()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetR	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		float *	q,
		unsigned int	elementCount
	)

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: $P_c = RP_w + t$ .

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
q	Float array with 4 elements for storing the rotation as quaternion.
elementCount	Number of elements in the given array. This should be 4.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_GetT()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetT	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		float *	t,
		unsigned int	elementCount
	)

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: $P_c = RP_w + t$ .

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
t	Float array with 3 elements for storing the translation.
elementCount	Number of elements in the given array. This should be 3.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_GetValid()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_GetValid ( vlExtrinsicDataWrapper_t * extrinsicDataWrapper )

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

Parameters

extrinsicDataWrapper Pointer to an ExtrinsicDataWrapper object.

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

◆ vlExtrinsicDataWrapper_SetCamPosWorld()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetCamPosWorld	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		const float *	t,
		unsigned int	elementCount
	)

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 ( $t = -RP_{cam}$ ).

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
t	Float array with 3 elements , which contains the position.
elementCount	Number of elements in the given array. This should be 3.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_SetR()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetR	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		const float *	q,
		unsigned int	elementCount
	)

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: $P_c = RP_w + t$ .

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
q	Float array with 4 elements , which contains the rotation as quaternion.
elementCount	Number of elements in the given array. This should be 4.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_SetT()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetT	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		const float *	t,
		unsigned int	elementCount
	)

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: $P_c = RP_w + t$ .

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
t	Float array with 3 elements , which contain the translation.
elementCount	Number of elements in the given array. This should be 3.

Returns: true, on success; false otherwise.

◆ vlExtrinsicDataWrapper_SetValid()

VL_SDK_API bool VL_CALLINGCONVENTION vlExtrinsicDataWrapper_SetValid	(	vlExtrinsicDataWrapper_t *	extrinsicDataWrapper,
		bool	value
	)

Sets the valid flag of the given ExtrinsicData.

Parameters

extrinsicDataWrapper	Pointer to an ExtrinsicDataWrapper object.
value	The new value of the valid flag.

Returns: true, if setting worked; false otherwise

◆ vlNew_ExtrinsicDataWrapper()

VL_SDK_API vlExtrinsicDataWrapper_t *VL_CALLINGCONVENTION vlNew_ExtrinsicDataWrapper ( )

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

This pointer must be released using vlDelete_ExtrinsicDataWrapper.

Returns: A pointer to a new ExtrinsicDataWrapper object.

documentation

Functions

Detailed Description

Function Documentation

◆ vlDelete_ExtrinsicDataWrapper()

◆ vlExtrinsicDataWrapper_Clone()

◆ vlExtrinsicDataWrapper_GetCamPosWorld()

◆ vlExtrinsicDataWrapper_GetModelViewMatrix()

◆ vlExtrinsicDataWrapper_GetR()

◆ vlExtrinsicDataWrapper_GetT()

◆ vlExtrinsicDataWrapper_GetValid()

◆ vlExtrinsicDataWrapper_SetCamPosWorld()

◆ vlExtrinsicDataWrapper_SetR()

◆ vlExtrinsicDataWrapper_SetT()

◆ vlExtrinsicDataWrapper_SetValid()

◆ vlNew_ExtrinsicDataWrapper()