Camera Intrinsics Handling

Classes
struct	VuCameraIntrinsics
	Vuforia camera intrinsics. More...

Enumerations
enum	VuCameraDistortionMode : int32_t {   VU_CAMERA_DISTORTION_MODE_LINEAR = 0x1 ,   VU_CAMERA_DISTORTION_MODE_1PARAM = 0x5 ,   VU_CAMERA_DISTORTION_MODE_2PARAMS = 0x6 ,   VU_CAMERA_DISTORTION_MODE_3PARAMS = 0x2 ,   VU_CAMERA_DISTORTION_MODE_4PARAMS = 0x3 ,   VU_CAMERA_DISTORTION_MODE_5PARAMS = 0x4 ,   VU_CAMERA_DISTORTION_MODE_6PARAMS = 0x7 ,   VU_CAMERA_DISTORTION_MODE_8PARAMS = 0x8 }
	Camera distortion model. More...

Functions
VuVector2F	vuCameraIntrinsicsGetFov (const VuCameraIntrinsics *intrinsics)
	Get the associated field-of-view of camera intrinsics in degrees.
VuMatrix33F	vuCameraIntrinsicsGetMatrix (const VuCameraIntrinsics *intrinsics)
	Get a 3x3 matrix of the camera intrinsics using a pinhole camera model.
VuMatrix44F	vuCameraIntrinsicsGetProjectionMatrix (const VuCameraIntrinsics *intrinsics, float nearPlane, float farPlane, VuRotation rotation)
	Create a perspective projection matrix from camera intrinsics data that is immediately suitable for rendering in OpenGL.

Detailed Description

Enumeration Type Documentation

VuCameraDistortionMode

enum VuCameraDistortionMode : int32_t

Camera distortion model.

Enumerator
VU_CAMERA_DISTORTION_MODE_LINEAR	Linear model (no distortion or undistortion)
VU_CAMERA_DISTORTION_MODE_1PARAM	ARCTAN model with one parameter.
VU_CAMERA_DISTORTION_MODE_2PARAMS	2 radial parameters, no tangential parameters
VU_CAMERA_DISTORTION_MODE_3PARAMS	3 radial parameters, no tangential parameters
VU_CAMERA_DISTORTION_MODE_4PARAMS	2 radial parameters, plus 2 tangential parameters
VU_CAMERA_DISTORTION_MODE_5PARAMS	3 radial parameters, plus 2 tangential parameters
VU_CAMERA_DISTORTION_MODE_6PARAMS	6 radial parameters (rational), no tangential parameters
VU_CAMERA_DISTORTION_MODE_8PARAMS	6 radial parameters (rational), plus 2 tangential parameters

Function Documentation

vuCameraIntrinsicsGetFov()

VuVector2F vuCameraIntrinsicsGetFov

(

const VuCameraIntrinsics *

intrinsics

)

Get the associated field-of-view of camera intrinsics in degrees.

Note

The function returns a zero vector upon an error.

vuCameraIntrinsicsGetMatrix()

VuMatrix33F vuCameraIntrinsicsGetMatrix

(

const VuCameraIntrinsics *

intrinsics

)

Get a 3x3 matrix of the camera intrinsics using a pinhole camera model.

Note

The function returns a zero matrix upon an error.

vuCameraIntrinsicsGetProjectionMatrix()

VuMatrix44F vuCameraIntrinsicsGetProjectionMatrix	(	const VuCameraIntrinsics *	intrinsics,
		float	nearPlane,
		float	farPlane,
		VuRotation	rotation )

Create a perspective projection matrix from camera intrinsics data that is immediately suitable for rendering in OpenGL.

Note

The projection matrix uses an OpenGL-style column-major matrix with the following right-handed coordinate system convention for the view space:

• The X coordinate system axis points to the right and the Y axis points downwards.
• The camera is positioned at the coordinate system origin and points in the positive Z direction.
• Normalized device coordinates are used where the Z coordinates are normalized to the range (-1, 1).

Parameters

intrinsics	Camera intrinsics
nearPlane	Near clipping plane
farPlane	Far clipping plane
rotation	Rotation to apply to the projection matrix (e.g. can be used for baking screen rotation into the projection matrix)

Returns

Projection matrix