CameraParameters Class¶

Description¶

Camera parameters, including image size, focal length, principal point, camera type and camera rotation against natural orientation.

Constructor¶

C: void easyar_CameraParameters__ctor(easyar_Vec2I imageSize, easyar_Vec2F focalLength, easyar_Vec2F principalPoint, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_CameraParameters * * Return)
C++: CameraParameters(Vec2I imageSize, Vec2F focalLength, Vec2F principalPoint, CameraDeviceType cameraDeviceType, int cameraOrientation)
Java: public CameraParameters(@Nonnull Vec2I imageSize, @Nonnull Vec2F focalLength, @Nonnull Vec2F principalPoint, int cameraDeviceType, int cameraOrientation)
Kotlin: constructor(imageSize: Vec2I, focalLength: Vec2F, principalPoint: Vec2F, cameraDeviceType: Int, cameraOrientation: Int)
Objective-C: + (easyar_CameraParameters *) create:(easyar_Vec2I *)imageSize focalLength:(easyar_Vec2F *)focalLength principalPoint:(easyar_Vec2F *)principalPoint cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation
Swift: public convenience init(_ imageSize: Vec2I, _ focalLength: Vec2F, _ principalPoint: Vec2F, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32)
C#: public CameraParameters(Vec2I imageSize, Vec2F focalLength, Vec2F principalPoint, CameraDeviceType cameraDeviceType, int cameraOrientation)

size¶

Image size.

C: easyar_Vec2I easyar_CameraParameters_size(const easyar_CameraParameters * This)
C++: Vec2I size()
Java: public @Nonnull Vec2I size()
Kotlin: fun size(): Vec2I
Objective-C: - (easyar_Vec2I *)size
Swift: public func size() -> Vec2I
C#: public virtual Vec2I size()

focalLength¶

Focal length, the distance from effective optical center to CCD plane, divided by unit pixel density in width and height directions. The unit is pixel.

C: easyar_Vec2F easyar_CameraParameters_focalLength(const easyar_CameraParameters * This)
C++: Vec2F focalLength()
Java: public @Nonnull Vec2F focalLength()
Kotlin: fun focalLength(): Vec2F
Objective-C: - (easyar_Vec2F *)focalLength
Swift: public func focalLength() -> Vec2F
C#: public virtual Vec2F focalLength()

principalPoint¶

Principal point, coordinates of the intersection point of principal axis on CCD plane against the left-top corner of the image. The unit is pixel.

C: easyar_Vec2F easyar_CameraParameters_principalPoint(const easyar_CameraParameters * This)
C++: Vec2F principalPoint()
Java: public @Nonnull Vec2F principalPoint()
Kotlin: fun principalPoint(): Vec2F
Objective-C: - (easyar_Vec2F *)principalPoint
Swift: public func principalPoint() -> Vec2F
C#: public virtual Vec2F principalPoint()

cameraModelType¶

Optics model camera used.

C: easyar_CameraModelType easyar_CameraParameters_cameraModelType(const easyar_CameraParameters * This)
C++: CameraModelType cameraModelType()
Java: public int cameraModelType()
Kotlin: fun cameraModelType(): Int
Objective-C: - (easyar_CameraModelType)cameraModelType
Swift: public func cameraModelType() -> CameraModelType
C#: public virtual CameraModelType cameraModelType()

cameraDeviceType¶

Camera device type. Default, back or front camera. On desktop devices, there are only default cameras. On mobile devices, there is a differentiation between back and front cameras.

C: easyar_CameraDeviceType easyar_CameraParameters_cameraDeviceType(const easyar_CameraParameters * This)
C++: CameraDeviceType cameraDeviceType()
Java: public int cameraDeviceType()
Kotlin: fun cameraDeviceType(): Int
Objective-C: - (easyar_CameraDeviceType)cameraDeviceType
Swift: public func cameraDeviceType() -> CameraDeviceType
C#: public virtual CameraDeviceType cameraDeviceType()

cameraOrientation¶

Angles rotation required to rotate clockwise and display camera image on device with natural orientation. The range is [0, 360).

For Android phones and some Android tablets, this value is 90 degrees.

For Android eye-wear and some Android tablets, this value is 0 degrees.

For all current iOS devices, this value is 90 degrees.

C: int easyar_CameraParameters_cameraOrientation(const easyar_CameraParameters * This)
C++: int cameraOrientation()
Java: public int cameraOrientation()
Kotlin: fun cameraOrientation(): Int
Objective-C: - (int)cameraOrientation
Swift: public func cameraOrientation() -> Int32
C#: public virtual int cameraOrientation()

createWithDefaultIntrinsics¶

Creates CameraParameters with default camera intrinsics. Default intrinsics are calculated by image size, which is not very precise.

C: void easyar_CameraParameters_createWithDefaultIntrinsics(easyar_Vec2I imageSize, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_CameraParameters * * Return)
C++: static std::shared_ptr<CameraParameters> createWithDefaultIntrinsics(Vec2I imageSize, CameraDeviceType cameraDeviceType, int cameraOrientation)
Java: public static @Nonnull CameraParameters createWithDefaultIntrinsics(@Nonnull Vec2I imageSize, int cameraDeviceType, int cameraOrientation)
Kotlin: companion object fun createWithDefaultIntrinsics(imageSize: Vec2I, cameraDeviceType: Int, cameraOrientation: Int): CameraParameters
Objective-C: + (easyar_CameraParameters *)createWithDefaultIntrinsics:(easyar_Vec2I *)imageSize cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation
Swift: public static func createWithDefaultIntrinsics(_ imageSize: Vec2I, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32) -> CameraParameters
C#: public static CameraParameters createWithDefaultIntrinsics(Vec2I imageSize, CameraDeviceType cameraDeviceType, int cameraOrientation)

tryCreateWithCustomIntrinsics¶

Creates CameraParameters with custom camera intrinsics. Refer to CameraModelType to see the support of different camera models.

Note: Use this interface with caution. Incorrect input data may cause a fail, resulting in a null return.”

C: void easyar_CameraParameters_tryCreateWithCustomIntrinsics(easyar_Vec2I imageSize, easyar_ListOfFloat * cameraParamList, easyar_CameraModelType cameraModel, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_OptionalOfCameraParameters * Return)
C++: static std::optional<std::shared_ptr<CameraParameters>> tryCreateWithCustomIntrinsics(Vec2I imageSize, std::vector<float> cameraParamList, CameraModelType cameraModel, CameraDeviceType cameraDeviceType, int cameraOrientation)
Java: public static @Nullable CameraParameters tryCreateWithCustomIntrinsics(@Nonnull Vec2I imageSize, java.util.@Nonnull ArrayList<java.lang.@Nonnull Float> cameraParamList, int cameraModel, int cameraDeviceType, int cameraOrientation)
Kotlin: companion object fun tryCreateWithCustomIntrinsics(imageSize: Vec2I, cameraParamList: ArrayList<Float>, cameraModel: Int, cameraDeviceType: Int, cameraOrientation: Int): CameraParameters?
Objective-C: + (easyar_CameraParameters *)tryCreateWithCustomIntrinsics:(easyar_Vec2I *)imageSize cameraParamList:(NSArray<NSNumber *> *)cameraParamList cameraModel:(easyar_CameraModelType)cameraModel cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation
Swift: public static func tryCreateWithCustomIntrinsics(_ imageSize: Vec2I, _ cameraParamList: [Float], _ cameraModel: CameraModelType, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32) -> CameraParameters?
C#: public static Optional<CameraParameters> tryCreateWithCustomIntrinsics(Vec2I imageSize, List<float> cameraParamList, CameraModelType cameraModel, CameraDeviceType cameraDeviceType, int cameraOrientation)

getResized¶

Get equivalent CameraParameters for a different camera image size.

C: void easyar_CameraParameters_getResized(easyar_CameraParameters * This, easyar_Vec2I imageSize, easyar_CameraParameters * * Return)
C++: std::shared_ptr<CameraParameters> getResized(Vec2I imageSize)
Java: public @Nonnull CameraParameters getResized(@Nonnull Vec2I imageSize)
Kotlin: fun getResized(imageSize: Vec2I): CameraParameters
Objective-C: - (easyar_CameraParameters *)getResized:(easyar_Vec2I *)imageSize
Swift: public func getResized(_ imageSize: Vec2I) -> CameraParameters
C#: public virtual CameraParameters getResized(Vec2I imageSize)

imageOrientation¶

Calculates the angle required to rotate the camera image clockwise to align it with the screen.

screenRotation is the angle of rotation of displaying screen image against device natural orientation in clockwise in degrees.

For iOS(UIInterfaceOrientationPortrait as natural orientation):

UIInterfaceOrientationPortrait: rotation = 0
UIInterfaceOrientationLandscapeRight: rotation = 90
UIInterfaceOrientationPortraitUpsideDown: rotation = 180
UIInterfaceOrientationLandscapeLeft: rotation = 270

For Android:

Surface.ROTATION_0 = 0
Surface.ROTATION_90 = 90
Surface.ROTATION_180 = 180
Surface.ROTATION_270 = 270

C: int easyar_CameraParameters_imageOrientation(const easyar_CameraParameters * This, int screenRotation)
C++: int imageOrientation(int screenRotation)
Java: public int imageOrientation(int screenRotation)
Kotlin: fun imageOrientation(screenRotation: Int): Int
Objective-C: - (int)imageOrientation:(int)screenRotation
Swift: public func imageOrientation(_ screenRotation: Int32) -> Int32
C#: public virtual int imageOrientation(int screenRotation)

imageHorizontalFlip¶

Calculates whether the image needed to be flipped horizontally. The image is rotated, then flipped in rendering. When cameraDeviceType is front, a flip is automatically applied. Pass manualHorizontalFlip with true to add a manual flip.

C: bool easyar_CameraParameters_imageHorizontalFlip(const easyar_CameraParameters * This, bool manualHorizontalFlip)
C++: bool imageHorizontalFlip(bool manualHorizontalFlip)
Java: public boolean imageHorizontalFlip(boolean manualHorizontalFlip)
Kotlin: fun imageHorizontalFlip(manualHorizontalFlip: Boolean): Boolean
Objective-C: - (bool)imageHorizontalFlip:(bool)manualHorizontalFlip
Swift: public func imageHorizontalFlip(_ manualHorizontalFlip: Bool) -> Bool
C#: public virtual bool imageHorizontalFlip(bool manualHorizontalFlip)

projection¶

Calculates the perspective projection matrix needed by virtual object rendering. The projection transforms points from camera coordinate system to clip coordinate system ([-1, 1]^4) (including rotation around z-axis). The form of perspective projection matrix is the same as OpenGL, that matrix multiply column vector of homogeneous coordinates of point on the right, ant not like Direct3D, that matrix multiply row vector of homogeneous coordinates of point on the left. But data arrangement is row-major, not like OpenGL’s column-major. Clip coordinate system and normalized device coordinate system are defined as the same as OpenGL’s default.

C: easyar_Matrix44F easyar_CameraParameters_projection(const easyar_CameraParameters * This, float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)
C++: Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)
Java: public @Nonnull Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip)
Kotlin: fun projection(nearPlane: Float, farPlane: Float, viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean): Matrix44F
Objective-C: - (easyar_Matrix44F *)projection:(float)nearPlane farPlane:(float)farPlane viewportAspectRatio:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip
Swift: public func projection(_ nearPlane: Float, _ farPlane: Float, _ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool) -> Matrix44F
C#: public virtual Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

imageProjection¶

Calculates the orthogonal projection matrix needed by camera background rendering. The projection transforms points from image quad coordinate system ([-1, 1]^2) to clip coordinate system ([-1, 1]^4) (including rotation around z-axis), with the undefined two dimensions unchanged. The form of orthogonal projection matrix is the same as OpenGL, that matrix multiply column vector of homogeneous coordinates of point on the right, ant not like Direct3D, that matrix multiply row vector of homogeneous coordinates of point on the left. But data arrangement is row-major, not like OpenGL’s column-major. Clip coordinate system and normalized device coordinate system are defined as the same as OpenGL’s default.

C: easyar_Matrix44F easyar_CameraParameters_imageProjection(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)
C++: Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)
Java: public @Nonnull Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip)
Kotlin: fun imageProjection(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean): Matrix44F
Objective-C: - (easyar_Matrix44F *)imageProjection:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip
Swift: public func imageProjection(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool) -> Matrix44F
C#: public virtual Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

screenCoordinatesFromImageCoordinates¶

Transforms points from image coordinate system ([0, 1]^2) to screen coordinate system ([0, 1]^2). Both coordinate system is x-left, y-down, with origin at left-top.

C: easyar_Vec2F easyar_CameraParameters_screenCoordinatesFromImageCoordinates(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, easyar_Vec2F imageCoordinates)
C++: Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F imageCoordinates)
Java: public @Nonnull Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip, @Nonnull Vec2F imageCoordinates)
Kotlin: fun screenCoordinatesFromImageCoordinates(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean, imageCoordinates: Vec2F): Vec2F
Objective-C: - (easyar_Vec2F *)screenCoordinatesFromImageCoordinates:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip imageCoordinates:(easyar_Vec2F *)imageCoordinates
Swift: public func screenCoordinatesFromImageCoordinates(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool, _ imageCoordinates: Vec2F) -> Vec2F
C#: public virtual Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F imageCoordinates)

imageCoordinatesFromScreenCoordinates¶

Transforms points from screen coordinate system ([0, 1]^2) to image coordinate system ([0, 1]^2). Both coordinate system is x-left, y-down, with origin at left-top.

C: easyar_Vec2F easyar_CameraParameters_imageCoordinatesFromScreenCoordinates(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, easyar_Vec2F screenCoordinates)
C++: Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F screenCoordinates)
Java: public @Nonnull Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip, @Nonnull Vec2F screenCoordinates)
Kotlin: fun imageCoordinatesFromScreenCoordinates(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean, screenCoordinates: Vec2F): Vec2F
Objective-C: - (easyar_Vec2F *)imageCoordinatesFromScreenCoordinates:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip screenCoordinates:(easyar_Vec2F *)screenCoordinates
Swift: public func imageCoordinatesFromScreenCoordinates(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool, _ screenCoordinates: Vec2F) -> Vec2F
C#: public virtual Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F screenCoordinates)

equalsTo¶

Checks if two groups of parameters are equal.

C: bool easyar_CameraParameters_equalsTo(const easyar_CameraParameters * This, easyar_CameraParameters * other)
C++: bool equalsTo(std::shared_ptr<CameraParameters> other)
Java: public boolean equalsTo(@Nonnull CameraParameters other)
Kotlin: fun equalsTo(other: CameraParameters): Boolean
Objective-C: - (bool)equalsTo:(easyar_CameraParameters *)other
Swift: public func equalsTo(_ other: CameraParameters) -> Bool
C#: public virtual bool equalsTo(CameraParameters other)