CameraParameters Class¶
Description¶
camera参数，包括图像大小、焦距、主点、camera类型和camera相对设备自然方向的旋转角度。
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¶
图像大小。
focalLength¶
焦距。相机的等效光心到CCD平面的距离除以宽高两个方向的单位像素密度。单位为像素。
principalPoint¶
主点。相机的主光轴在CCD平面上的交点到图像左上角的像素坐标。单位为像素。
- 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¶
相机模型。
- 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¶
相机设备类型。默认camera、后置camera或前置camera。桌面设备均为默认camera，移动设备区分后置camera和前置camera。
- 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¶
camera图像在设备的自然方向上显示时需要顺时针旋转的角度。范围为[0, 360)。
Android手机和部分Android平板为90度。
Android眼镜和部分Android平板为0度。
现有iOS设备均为90度。
- 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¶
以默认相机内参创建CameraParameters。默认相机内参（焦距、主点）根据图像大小自动计算，但并不是特别准确。
- 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¶
使用自定义相机内参创建CameraParameters。需要指定相机内参（焦距、主点、畸变系数）以及相机模型。相机模型支持参考CameraModelType。
注意: 谨慎使用该接口，输入数据错误可能导致创建对象失败，返回为空。
- 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¶
获取相机图像大小改变后的等效CameraParameters。
- 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¶
计算图像需要相对于屏幕进行顺时针旋转以和屏幕对齐所需要的角度。
screenRotation为屏幕图像相对于自然方向顺时针旋转的角度。
对于iOS，有
UIInterfaceOrientationPortrait: screenRotation = 0
UIInterfaceOrientationLandscapeRight: screenRotation = 90
UIInterfaceOrientationPortraitUpsideDown: screenRotation = 180
UIInterfaceOrientationLandscapeLeft: screenRotation = 270
对于Android，有
Surface.ROTATION_0: screenRotation = 0
Surface.ROTATION_90: screenRotation = 90
Surface.ROTATION_180: screenRotation = 180
Surface.ROTATION_270: screenRotation = 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¶
计算图像是否需要左右翻转。图像渲染时，先进行旋转，再进行翻转。当cameraDeviceType为前置摄像头时，会自动进行翻转，可在此基础上，传入manualHorizontalFlip再叠加一次手动翻转。
- 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¶
计算渲染虚拟物体所需要的透视投影矩阵，将camera坐标系下的点变换到剪裁坐标系（[-1, 1]^4）中（包括绕z轴的旋转）。透视投影矩阵的形式和OpenGL相同，为矩阵右边乘以点的齐次坐标的列向量，而非Direct3D的矩阵左边乘以点的齐次坐标的列向量。但数据的排列方式为row-major，与OpenGL的column-major相反。剪裁坐标系和单位化设备坐标系的定义与OpenGL默认相同。
- 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¶
计算渲染摄像机背景图像所需要的正交投影矩阵，将图像矩形坐标系下（[-1, 1]^2）的点变换到剪裁坐标系（[-1, 1]^4）中（包括绕z轴的旋转），未定义的两维保持不变。正交投影矩阵的形式和OpenGL相同，为矩阵右边乘以点的齐次坐标，而非Direct3D的矩阵左边乘以点的齐次坐标。但数据的排列方式为row-major，与OpenGL的column-major相反。剪裁坐标系和单位化设备坐标系的定义与OpenGL默认相同。
- 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¶
从图像坐标系（[0, 1]^2）变换到屏幕坐标系（[0, 1]^2），两个坐标系均x朝右、y朝下，原点在左上角。
- 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¶
从屏幕坐标系（[0, 1]^2）变换到图像坐标系（[0, 1]^2），两个坐标系均x朝右、y朝下，原点在左上角。
- 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¶
判断两组参数是否相等。
- 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)