Class ArucoCameraParameters

Manage the camera parameters from a calibration.

Inheritance

Object

ArucoCameraParameters

Namespace: ArucoUnity.Cameras.Parameters

Assembly: Assembly-CSharp.dll

Syntax

[Serializable]
public class ArucoCameraParameters

Constructors

ArucoCameraParameters()

Create an empty CameraParameters and set CalibrationDateTime to now.

Declaration

public ArucoCameraParameters()

Remarks

This constructor is needed for the serialization.

ArucoCameraParameters(Int32)

Initialize the properties.

Declaration

public ArucoCameraParameters(int camerasNumber)

Parameters

Type	Name	Description
Int32	camerasNumber	The number of camera in the camera system. Must be equal to the number of cameras of the related ArucoCamera.

Fields

cameraMatrices

Declaration

protected Cv.Mat[] cameraMatrices

Field Value

Type	Description
Cv.Mat[]

Properties

CalibrationDateTime

The calibration date and time.

Declaration

public DateTime CalibrationDateTime { get; set; }

Property Value

Type	Description
DateTime

CalibrationFlagsValue

The calibration flags used.

Declaration

public int CalibrationFlagsValue { get; set; }

Property Value

Type	Description
Int32

CameraMatrices

The camera matrices of the calibration.

Declaration

public Cv.Mat[] CameraMatrices { get; set; }

Property Value

Type	Description
Cv.Mat[]

Remarks

When SaveToXmlFile(String) is called, it's serialized with the CameraMatricesType and CameraMatricesValues properties.

CameraMatricesType

The camera matrix type of the calibration. Equals to and automatically written when SaveToXmlFile(String) is called.

Declaration

public Cv.Type CameraMatricesType { get; set; }

Property Value

Type	Description
Cv.Type

Remarks

This property is be public for the serialization.

CameraMatricesValues

The camera matrix values of the calibration. Equals to the CameraMatrices content and automatically written when SaveToXmlFile(String) is called.

Declaration

public double[][][] CameraMatricesValues { get; set; }

Property Value

Type	Description
Double[][][]

Remarks

This property is be public for the serialization.

CameraNumber

The number of the camera during the calibration.

Declaration

public int CameraNumber { get; set; }

Property Value

Type	Description
Int32

DistCoeffs

The distorsition coefficients of the calibration.

Declaration

public Cv.Mat[] DistCoeffs { get; set; }

Property Value

Type	Description
Cv.Mat[]

Remarks

When SaveToXmlFile(String) is called, it's serialized with the DistCoeffsType and DistCoeffsValues properties.

DistCoeffsType

The distorsition coefficients type of the calibration. Equals to and automatically written when SaveToXmlFile(String) is called.

Declaration

public Cv.Type DistCoeffsType { get; set; }

Property Value

Type	Description
Cv.Type

Remarks

This property is be public for the serialization.

DistCoeffsValues

The distorsition coefficients values of the calibration. Equals to the DistCoeffs content and automatically written when SaveToXmlFile(String) is called.

Declaration

public double[][][] DistCoeffsValues { get; set; }

Property Value

Type	Description
Double[][][]

Remarks

This property is be public for the serialization.

FilePath

The file path of the parameters.

Declaration

public string FilePath { get; protected set; }

Property Value

Type	Description
String

FixAspectRatioValue

Non null if there is a fix image aspect ratio.

Declaration

public float FixAspectRatioValue { get; set; }

Property Value

Type	Description
Single

ImageHeights

The image height during the calibration.

Declaration

public int[] ImageHeights { get; set; }

Property Value

Type	Description
Int32[]

ImageWidths

The image width during the calibration.

Declaration

public int[] ImageWidths { get; set; }

Property Value

Type	Description
Int32[]

OmnidirXis

The xi parameter used in the omnidir calibration process (ccalib module).

Declaration

public Cv.Mat[] OmnidirXis { get; set; }

Property Value

Type	Description
Cv.Mat[]

Remarks

When SaveToXmlFile(String) is called, it's serialized with the OmnidirXisType and OmnidirXisValues properties.

OmnidirXisType

The xi parameter type of the calibration. Equals to and automatically written when SaveToXmlFile(String) is called.

Declaration

public Cv.Type OmnidirXisType { get; set; }

Property Value

Type	Description
Cv.Type

Remarks

This property is be public for the serialization.

OmnidirXisValues

The xi parameter values of the calibration. Equals to the OmnidirXis content and automatically written when SaveToXmlFile(String) is called.

Declaration

public double[][][] OmnidirXisValues { get; set; }

Property Value

Type	Description
Double[][][]

Remarks

This property is be public for the serialization.

ReprojectionErrors

The average re-projection error of the calibration.

Declaration

public double[] ReprojectionErrors { get; set; }

Property Value

Type	Description
Double[]

StereoCameraParameters

Parameters from possible stereo calibration on the camera system.

Declaration

public StereoArucoCameraParameters StereoCameraParameters { get; set; }

Property Value

Type	Description
StereoArucoCameraParameters

Methods

LoadFromXmlFile(String)

Create a new CameraParameters object from a previously saved camera parameters XML file.

Declaration

public static ArucoCameraParameters LoadFromXmlFile(string cameraParametersFilePath)

Parameters

Type	Name	Description
String	cameraParametersFilePath	The file path to load.

Returns

Type	Description
ArucoCameraParameters	The CameraParameters loaded from the XML file or null if the file coulnd't be loaded.

Exceptions

Type	Condition
ArgumentException	If the camera parameters couldn't be loaded because of a wrong file path.

SaveToXmlFile(String)

Save the camera parameters to a XML file.

Declaration

public void SaveToXmlFile(string cameraParametersFilePath)

Parameters

Type	Name	Description
String	cameraParametersFilePath	The file path where to save the object.

Exceptions

Type	Condition
ArgumentException	If the camera parameters couldn't be saved because of a wrong file path.