Class CameraParameters

命名空间

easyar

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。

CameraParameters

构造函数

CameraParameters

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void easyar_CameraParameters__ctor(easyar_Vec2I imageSize, easyar_Vec2F focalLength, easyar_Vec2F principalPoint, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_CameraParameters * * Return)

CameraParameters(Vec2I imageSize, Vec2F focalLength, Vec2F principalPoint, CameraDeviceType cameraDeviceType, int cameraOrientation)

public CameraParameters(@Nonnull Vec2I imageSize, @Nonnull Vec2F focalLength, @Nonnull Vec2F principalPoint, int cameraDeviceType, int cameraOrientation)

constructor(imageSize: Vec2I, focalLength: Vec2F, principalPoint: Vec2F, cameraDeviceType: Int, cameraOrientation: Int)

+ (easyar_CameraParameters *) create:(easyar_Vec2I *)imageSize focalLength:(easyar_Vec2F *)focalLength principalPoint:(easyar_Vec2F *)principalPoint cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation

public convenience init(_ imageSize: Vec2I, _ focalLength: Vec2F, _ principalPoint: Vec2F, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32)

public CameraParameters(Vec2I imageSize, Vec2F focalLength, Vec2F principalPoint, CameraDeviceType cameraDeviceType, int cameraOrientation)

参数

名称	类型	描述
imageSize	Vec2I
focalLength	Vec2F
principalPoint	Vec2F
cameraDeviceType	CameraDeviceType
cameraOrientation	Int32

方法

size

图像大小。

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easyar_Vec2I easyar_CameraParameters_size(const easyar_CameraParameters * This)

Vec2I size()

public @Nonnull Vec2I size()

fun size(): Vec2I

- (easyar_Vec2I *)size

public func size() -> Vec2I

public virtual Vec2I size()

返回

类型	描述
Vec2I

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。

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easyar_Vec2F easyar_CameraParameters_focalLength(const easyar_CameraParameters * This)

Vec2F focalLength()

public @Nonnull Vec2F focalLength()

fun focalLength(): Vec2F

- (easyar_Vec2F *)focalLength

public func focalLength() -> Vec2F

public virtual Vec2F focalLength()

返回

类型	描述
Vec2F

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。

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easyar_Vec2F easyar_CameraParameters_principalPoint(const easyar_CameraParameters * This)

Vec2F principalPoint()

public @Nonnull Vec2F principalPoint()

fun principalPoint(): Vec2F

- (easyar_Vec2F *)principalPoint

public func principalPoint() -> Vec2F

public virtual Vec2F principalPoint()

返回

类型	描述
Vec2F

cameraModelType

相机模型。

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easyar_CameraModelType easyar_CameraParameters_cameraModelType(const easyar_CameraParameters * This)

CameraModelType cameraModelType()

public int cameraModelType()

fun cameraModelType(): Int

- (easyar_CameraModelType)cameraModelType

public func cameraModelType() -> CameraModelType

public virtual CameraModelType cameraModelType()

返回

类型	描述
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。

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easyar_CameraDeviceType easyar_CameraParameters_cameraDeviceType(const easyar_CameraParameters * This)

CameraDeviceType cameraDeviceType()

public int cameraDeviceType()

fun cameraDeviceType(): Int

- (easyar_CameraDeviceType)cameraDeviceType

public func cameraDeviceType() -> CameraDeviceType

public virtual CameraDeviceType cameraDeviceType()

返回

类型	描述
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。

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int easyar_CameraParameters_cameraOrientation(const easyar_CameraParameters * This)

int cameraOrientation()

public int cameraOrientation()

fun cameraOrientation(): Int

- (int)cameraOrientation

public func cameraOrientation() -> Int32

public virtual int cameraOrientation()

返回

类型	描述
Int32

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。

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void easyar_CameraParameters_createWithDefaultIntrinsics(easyar_Vec2I imageSize, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_CameraParameters * * Return)

static std::shared_ptr<CameraParameters> createWithDefaultIntrinsics(Vec2I imageSize, CameraDeviceType cameraDeviceType, int cameraOrientation)

public static @Nonnull CameraParameters createWithDefaultIntrinsics(@Nonnull Vec2I imageSize, int cameraDeviceType, int cameraOrientation)

companion object fun createWithDefaultIntrinsics(imageSize: Vec2I, cameraDeviceType: Int, cameraOrientation: Int): CameraParameters

+ (easyar_CameraParameters *)createWithDefaultIntrinsics:(easyar_Vec2I *)imageSize cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation

public static func createWithDefaultIntrinsics(_ imageSize: Vec2I, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32) -> CameraParameters

public static CameraParameters createWithDefaultIntrinsics(Vec2I imageSize, CameraDeviceType cameraDeviceType, int cameraOrientation)

参数

名称	类型	描述
imageSize	Vec2I
cameraDeviceType	CameraDeviceType
cameraOrientation	Int32

返回

类型	描述
CameraParameters

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。

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void easyar_CameraParameters_tryCreateWithCustomIntrinsics(easyar_Vec2I imageSize, easyar_ListOfFloat * cameraParamList, easyar_CameraModelType cameraModel, easyar_CameraDeviceType cameraDeviceType, int cameraOrientation, easyar_OptionalOfCameraParameters * Return)

static std::optional<std::shared_ptr<CameraParameters>> tryCreateWithCustomIntrinsics(Vec2I imageSize, std::vector<float> cameraParamList, CameraModelType cameraModel, CameraDeviceType cameraDeviceType, int cameraOrientation)

public static @Nullable CameraParameters tryCreateWithCustomIntrinsics(@Nonnull Vec2I imageSize, java.util.@Nonnull ArrayList<java.lang.@Nonnull Float> cameraParamList, int cameraModel, int cameraDeviceType, int cameraOrientation)

companion object fun tryCreateWithCustomIntrinsics(imageSize: Vec2I, cameraParamList: ArrayList<Float>, cameraModel: Int, cameraDeviceType: Int, cameraOrientation: Int): CameraParameters?

+ (easyar_CameraParameters *)tryCreateWithCustomIntrinsics:(easyar_Vec2I *)imageSize cameraParamList:(NSArray<NSNumber *> *)cameraParamList cameraModel:(easyar_CameraModelType)cameraModel cameraDeviceType:(easyar_CameraDeviceType)cameraDeviceType cameraOrientation:(int)cameraOrientation

public static func tryCreateWithCustomIntrinsics(_ imageSize: Vec2I, _ cameraParamList: [Float], _ cameraModel: CameraModelType, _ cameraDeviceType: CameraDeviceType, _ cameraOrientation: Int32) -> CameraParameters?

public static Optional<CameraParameters> tryCreateWithCustomIntrinsics(Vec2I imageSize, List<float> cameraParamList, CameraModelType cameraModel, CameraDeviceType cameraDeviceType, int cameraOrientation)

参数

名称	类型	描述
imageSize	Vec2I
cameraParamList	List<Single>
cameraModel	CameraModelType
cameraDeviceType	CameraDeviceType
cameraOrientation	Int32

返回

类型	描述
Optional<>

getResized

获取相机图像大小改变后的等效CameraParameters。

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void easyar_CameraParameters_getResized(easyar_CameraParameters * This, easyar_Vec2I imageSize, easyar_CameraParameters * * Return)

std::shared_ptr<CameraParameters> getResized(Vec2I imageSize)

public @Nonnull CameraParameters getResized(@Nonnull Vec2I imageSize)

fun getResized(imageSize: Vec2I): CameraParameters

- (easyar_CameraParameters *)getResized:(easyar_Vec2I *)imageSize

public func getResized(_ imageSize: Vec2I) -> CameraParameters

public virtual CameraParameters getResized(Vec2I imageSize)

参数

名称	类型	描述
imageSize	Vec2I

返回

类型	描述
CameraParameters

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

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int easyar_CameraParameters_imageOrientation(const easyar_CameraParameters * This, int screenRotation)

int imageOrientation(int screenRotation)

public int imageOrientation(int screenRotation)

fun imageOrientation(screenRotation: Int): Int

- (int)imageOrientation:(int)screenRotation

public func imageOrientation(_ screenRotation: Int32) -> Int32

public virtual int imageOrientation(int screenRotation)

参数

名称	类型	描述
screenRotation	Int32

返回

类型	描述
Int32

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。

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bool easyar_CameraParameters_imageHorizontalFlip(const easyar_CameraParameters * This, bool manualHorizontalFlip)

bool imageHorizontalFlip(bool manualHorizontalFlip)

public boolean imageHorizontalFlip(boolean manualHorizontalFlip)

fun imageHorizontalFlip(manualHorizontalFlip: Boolean): Boolean

- (bool)imageHorizontalFlip:(bool)manualHorizontalFlip

public func imageHorizontalFlip(_ manualHorizontalFlip: Bool) -> Bool

public virtual bool imageHorizontalFlip(bool manualHorizontalFlip)

参数

名称	类型	描述
manualHorizontalFlip	Boolean

返回

类型	描述
Boolean

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。

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easyar_Matrix44F easyar_CameraParameters_projection(const easyar_CameraParameters * This, float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

public @Nonnull Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip)

fun projection(nearPlane: Float, farPlane: Float, viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean): Matrix44F

- (easyar_Matrix44F *)projection:(float)nearPlane farPlane:(float)farPlane viewportAspectRatio:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip

public func projection(_ nearPlane: Float, _ farPlane: Float, _ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool) -> Matrix44F

public virtual Matrix44F projection(float nearPlane, float farPlane, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

参数

名称	类型	描述
nearPlane	Single
farPlane	Single
viewportAspectRatio	Single
screenRotation	Int32
combiningFlip	Boolean
manualHorizontalFlip	Boolean

返回

类型	描述
Matrix44F

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。

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easyar_Matrix44F easyar_CameraParameters_imageProjection(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

public @Nonnull Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip)

fun imageProjection(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean): Matrix44F

- (easyar_Matrix44F *)imageProjection:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip

public func imageProjection(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool) -> Matrix44F

public virtual Matrix44F imageProjection(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip)

参数

名称	类型	描述
viewportAspectRatio	Single
screenRotation	Int32
combiningFlip	Boolean
manualHorizontalFlip	Boolean

返回

类型	描述
Matrix44F

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。

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easyar_Vec2F easyar_CameraParameters_screenCoordinatesFromImageCoordinates(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, easyar_Vec2F imageCoordinates)

Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F imageCoordinates)

public @Nonnull Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip, @Nonnull Vec2F imageCoordinates)

fun screenCoordinatesFromImageCoordinates(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean, imageCoordinates: Vec2F): Vec2F

- (easyar_Vec2F *)screenCoordinatesFromImageCoordinates:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip imageCoordinates:(easyar_Vec2F *)imageCoordinates

public func screenCoordinatesFromImageCoordinates(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool, _ imageCoordinates: Vec2F) -> Vec2F

public virtual Vec2F screenCoordinatesFromImageCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F imageCoordinates)

参数

名称	类型	描述
viewportAspectRatio	Single
screenRotation	Int32
combiningFlip	Boolean
manualHorizontalFlip	Boolean
imageCoordinates	Vec2F

返回

类型	描述
Vec2F

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。

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easyar_Vec2F easyar_CameraParameters_imageCoordinatesFromScreenCoordinates(const easyar_CameraParameters * This, float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, easyar_Vec2F screenCoordinates)

Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F screenCoordinates)

public @Nonnull Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, boolean combiningFlip, boolean manualHorizontalFlip, @Nonnull Vec2F screenCoordinates)

fun imageCoordinatesFromScreenCoordinates(viewportAspectRatio: Float, screenRotation: Int, combiningFlip: Boolean, manualHorizontalFlip: Boolean, screenCoordinates: Vec2F): Vec2F

- (easyar_Vec2F *)imageCoordinatesFromScreenCoordinates:(float)viewportAspectRatio screenRotation:(int)screenRotation combiningFlip:(bool)combiningFlip manualHorizontalFlip:(bool)manualHorizontalFlip screenCoordinates:(easyar_Vec2F *)screenCoordinates

public func imageCoordinatesFromScreenCoordinates(_ viewportAspectRatio: Float, _ screenRotation: Int32, _ combiningFlip: Bool, _ manualHorizontalFlip: Bool, _ screenCoordinates: Vec2F) -> Vec2F

public virtual Vec2F imageCoordinatesFromScreenCoordinates(float viewportAspectRatio, int screenRotation, bool combiningFlip, bool manualHorizontalFlip, Vec2F screenCoordinates)

参数

名称	类型	描述
viewportAspectRatio	Single
screenRotation	Int32
combiningFlip	Boolean
manualHorizontalFlip	Boolean
screenCoordinates	Vec2F

返回

类型	描述
Vec2F

equalsTo

判断两组参数是否相等。

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bool easyar_CameraParameters_equalsTo(const easyar_CameraParameters * This, easyar_CameraParameters * other)

bool equalsTo(std::shared_ptr<CameraParameters> other)

public boolean equalsTo(@Nonnull CameraParameters other)

fun equalsTo(other: CameraParameters): Boolean

- (bool)equalsTo:(easyar_CameraParameters *)other

public func equalsTo(_ other: CameraParameters) -> Bool

public virtual bool equalsTo(CameraParameters other)

参数

名称	类型	描述
other	CameraParameters

返回

类型	描述
Boolean