A class that manages AR camera parameters and updates the projection matrix. This class utilizes camera calibration data to correct object positioning in AR space and provides functionalities for integrating with an OpenCV-based AR system. More...

Public Member Functions
virtual void	Dispose ()
	Disposes resources. This method is called when OnDestroy() is called.

virtual Mat	GetCamMatrix ()
	Get camMatrix.

virtual MatOfDouble	GetDistCoeffs ()
	Get distCoeffs.

virtual void	Initialize ()
	Initializes resources and sets the initial values. This method is called when Awake() is called.

virtual void	SetARCameraParameters (int screenWidth, int screenHeight, int imageWidth, int imageHeight, Vector2 translation, Vector2 scale, double[] camMatrixValues=null, double[] distCoeffsValues=null)
	Sets the AR camera parameters and updates the projection matrix.

virtual void	SetCamMatrix (Mat camMatrix)
	Set camMatrix.

virtual void	SetCamMatrixValuesFromImageSize ()
	Set normalized CamMatrixValues calculated from image size. The calculated values are a simplified camera matrix with a unit aspect ratio and normalized parameters.

virtual void	SetDistCoeffs (MatOfDouble distCoeffs)
	Set distCoeffs.

virtual void	UpdateProjectionMatrix ()
	Updates the projection matrix of the AR camera based on the current parameters.

Protected Member Functions
virtual void	Awake ()
	Awake is called when the script instance is being loaded.

virtual Matrix4x4	CalculateProjectionMatrixFromCameraMatrixValuesWithTranslationAndScale (float fx, float fy, float cx, float cy, float width, float height, float near, float far, Vector2 translation, Vector2 scale, float screenWidth, float screenHeight)
	Calculate the projection matrix from camera matrix values with additional translation and scaling adjustments. Converts from the OpenCV coordinate system to the OpenGL coordinate system, accounting for aspect ratio differences between the image and the screen, as well as custom translation and scaling.

virtual void	CopyCamMatrixToCamMatrixValues (Mat camMatrix)

virtual void	CopyDistCoeffsToDistCoeffsValues (MatOfDouble distCoeffs)

virtual void	OnDestroy ()
	Called when the MonoBehaviour will be destroyed. This method is used to release resources and perform cleanup operations.

virtual void	OnValidate ()
	Called when the script is loaded or a value is changed in the Inspector. Ensures that the screen and image dimensions are within valid ranges, validates the camera matrix and distortion coefficients arrays, and updates the projection matrix.

virtual double[]	ValidateArraySize (double[] array, int maxSize)
	Restricts the size of the array.

Protected Attributes
Camera	_cachedCamera

Mat	_camMatrix

double[]	_camMatrixValues = null

MatOfDouble	_distCoeffs

double[]	_distCoeffsValues = null

int	_imageHeight = 480

int	_imageWidth = 640

Vector2	_scale = Vector2.one

int	_screenHeight = 480

int	_screenWidth = 640

Vector2	_translation = Vector2.zero

Static Protected Attributes
const int	CAMMATRIXVALUES_MAX_SIZE = 9

const int	CAMMATRIXVALUES_MIN_SIZE = 9

const int	DISTCOEFFSVALUES_MAX_SIZE = 14

const int	DISTCOEFFSVALUES_MIN_SIZE = 5

Properties
virtual double[]	CamMatrixValues `[get, set]`
	Specifies the initial value of camMatrix used for camera calibration. If the number of elements in this array is less than 9, it is automatically calculated from the Screen's Width and Height and the Image's Width and Height.

virtual double[]	DistCoeffsValues `[get, set]`
	Specifies the initial value of distCoeffs used for camera calibration. If the number of elements in this array is less than 5, all elements are set to 0.

virtual int	ImageHeight `[get, set]`
	Set the height of image.

virtual int	ImageWidth `[get, set]`
	Set the width of image.

virtual Vector2	Scale `[get, set]`
	Set the scale vector.

virtual int	ScreenHeight `[get, set]`
	Set the height of screen.

virtual int	ScreenWidth `[get, set]`
	Set the width of screen.

virtual Vector2	Translation `[get, set]`
	Set the translation vector.

Detailed Description

A class that manages AR camera parameters and updates the projection matrix. This class utilizes camera calibration data to correct object positioning in AR space and provides functionalities for integrating with an OpenCV-based AR system.

Configures screen and image dimensions and calculates the appropriate projection matrix.
Manages the intrinsic camera parameters (camera matrix) and lens distortion coefficients.
Supports object position estimation using OpenCV's camera model.
Updates the camera's projection matrix to apply the correct perspective transformation.
Works with ARHelper to provide data for correcting the position and orientation of ARGameObject.

Member Function Documentation

◆ Awake()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.Awake ( )

protectedvirtual

Awake is called when the script instance is being loaded.

◆ CalculateProjectionMatrixFromCameraMatrixValuesWithTranslationAndScale()

virtual Matrix4x4 OpenCVForUnity.UnityUtils.Helper.ARCamera.CalculateProjectionMatrixFromCameraMatrixValuesWithTranslationAndScale	(	float	fx,
		float	fy,
		float	cx,
		float	cy,
		float	width,
		float	height,
		float	near,
		float	far,
		Vector2	translation,
		Vector2	scale,
		float	screenWidth,
		float	screenHeight )

protectedvirtual

Calculate the projection matrix from camera matrix values with additional translation and scaling adjustments. Converts from the OpenCV coordinate system to the OpenGL coordinate system, accounting for aspect ratio differences between the image and the screen, as well as custom translation and scaling.

Parameters

fx	Focal length x.
fy	Focal length y.
cx	Image center point x.(principal point x)
cy	Image center point y.(principal point y)
width	Image width.
height	Image height.
near	The near clipping plane distance.
far	The far clipping plane distance.
translation	Translation applied to the projection matrix. The x and y components represent offsets in normalized screen coordinates.
scale	Scaling factors for the projection matrix. The x and y components represent scaling in the horizontal and vertical directions.
screenWidth	Screen width in pixels.
screenHeight	Screen height in pixels.

Returns: A Matrix4x4 representing the adjusted projection matrix.

◆ CopyCamMatrixToCamMatrixValues()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.CopyCamMatrixToCamMatrixValues ( Mat camMatrix )

protectedvirtual

◆ CopyDistCoeffsToDistCoeffsValues()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.CopyDistCoeffsToDistCoeffsValues ( MatOfDouble distCoeffs )

protectedvirtual

◆ Dispose()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.Dispose ( )

virtual

Disposes resources. This method is called when OnDestroy() is called.

◆ GetCamMatrix()

virtual Mat OpenCVForUnity.UnityUtils.Helper.ARCamera.GetCamMatrix ( )

virtual

Get camMatrix.

Returns

◆ GetDistCoeffs()

virtual MatOfDouble OpenCVForUnity.UnityUtils.Helper.ARCamera.GetDistCoeffs ( )

virtual

Get distCoeffs.

Returns

◆ Initialize()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.Initialize ( )

virtual

Initializes resources and sets the initial values. This method is called when Awake() is called.

◆ OnDestroy()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.OnDestroy ( )

protectedvirtual

Called when the MonoBehaviour will be destroyed. This method is used to release resources and perform cleanup operations.

◆ OnValidate()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.OnValidate ( )

protectedvirtual

Called when the script is loaded or a value is changed in the Inspector. Ensures that the screen and image dimensions are within valid ranges, validates the camera matrix and distortion coefficients arrays, and updates the projection matrix.

◆ SetARCameraParameters()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.SetARCameraParameters	(	int	screenWidth,
		int	screenHeight,
		int	imageWidth,
		int	imageHeight,
		Vector2	translation,
		Vector2	scale,
		double[]	camMatrixValues = null,
		double[]	distCoeffsValues = null )

virtual

Sets the AR camera parameters and updates the projection matrix.

Parameters

screenWidth	The width of the screen.
screenHeight	The height of the screen.
imageWidth	The width of the image.
imageHeight	The height of the image.
translation	The translation vector applied to the projection matrix.
scale	The scaling factors for the projection matrix.
camMatrixValues	Optional initial values for the camera matrix used for calibration. If camMatrixValues.Length is less than CAMMATRIXVALUES_MIN_SIZE then camMatrixValues is calculated and set based on the values of imageWidth and imageWidth.
distCoeffsValues	Optional initial values for the distortion coefficients used for calibration. If distCoeffsValues.Length is less than DISTCOEFFSVALUES_MIN_SIZE then distCoeffsValues is calculated and set based on the values of imageWidth and imageWidth.

◆ SetCamMatrix()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.SetCamMatrix ( Mat camMatrix )

virtual

Set camMatrix.

Parameters

camMatrix

◆ SetCamMatrixValuesFromImageSize()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.SetCamMatrixValuesFromImageSize ( )

virtual

Set normalized CamMatrixValues calculated from image size. The calculated values are a simplified camera matrix with a unit aspect ratio and normalized parameters.

◆ SetDistCoeffs()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.SetDistCoeffs ( MatOfDouble distCoeffs )

virtual

Set distCoeffs.

Parameters

distCoeffs

◆ UpdateProjectionMatrix()

virtual void OpenCVForUnity.UnityUtils.Helper.ARCamera.UpdateProjectionMatrix ( )

virtual

Updates the projection matrix of the AR camera based on the current parameters.

◆ ValidateArraySize()

virtual double[] OpenCVForUnity.UnityUtils.Helper.ARCamera.ValidateArraySize	(	double[]	array,
		int	maxSize )

protectedvirtual

Restricts the size of the array.

Parameters

array	The target array.
maxSize	The maximum size.

Returns: The array after applying the size restriction.

Member Data Documentation

◆ _cachedCamera

Camera OpenCVForUnity.UnityUtils.Helper.ARCamera._cachedCamera

protected

◆ _camMatrix

Mat OpenCVForUnity.UnityUtils.Helper.ARCamera._camMatrix

protected

◆ _camMatrixValues

double [] OpenCVForUnity.UnityUtils.Helper.ARCamera._camMatrixValues = null

protected

◆ _distCoeffs

MatOfDouble OpenCVForUnity.UnityUtils.Helper.ARCamera._distCoeffs

protected

◆ _distCoeffsValues

double [] OpenCVForUnity.UnityUtils.Helper.ARCamera._distCoeffsValues = null

protected

◆ _imageHeight

int OpenCVForUnity.UnityUtils.Helper.ARCamera._imageHeight = 480

protected

◆ _imageWidth

int OpenCVForUnity.UnityUtils.Helper.ARCamera._imageWidth = 640

protected

◆ _scale

Vector2 OpenCVForUnity.UnityUtils.Helper.ARCamera._scale = Vector2.one

protected

◆ _screenHeight

int OpenCVForUnity.UnityUtils.Helper.ARCamera._screenHeight = 480

protected

◆ _screenWidth

int OpenCVForUnity.UnityUtils.Helper.ARCamera._screenWidth = 640

protected

◆ _translation

Vector2 OpenCVForUnity.UnityUtils.Helper.ARCamera._translation = Vector2.zero

protected

◆ CAMMATRIXVALUES_MAX_SIZE

const int OpenCVForUnity.UnityUtils.Helper.ARCamera.CAMMATRIXVALUES_MAX_SIZE = 9

staticprotected

◆ CAMMATRIXVALUES_MIN_SIZE

const int OpenCVForUnity.UnityUtils.Helper.ARCamera.CAMMATRIXVALUES_MIN_SIZE = 9

staticprotected

◆ DISTCOEFFSVALUES_MAX_SIZE

const int OpenCVForUnity.UnityUtils.Helper.ARCamera.DISTCOEFFSVALUES_MAX_SIZE = 14

staticprotected

◆ DISTCOEFFSVALUES_MIN_SIZE

const int OpenCVForUnity.UnityUtils.Helper.ARCamera.DISTCOEFFSVALUES_MIN_SIZE = 5

staticprotected

Property Documentation

◆ CamMatrixValues

virtual double [] OpenCVForUnity.UnityUtils.Helper.ARCamera.CamMatrixValues

getset

Specifies the initial value of camMatrix used for camera calibration. If the number of elements in this array is less than 9, it is automatically calculated from the Screen's Width and Height and the Image's Width and Height.

◆ DistCoeffsValues

virtual double [] OpenCVForUnity.UnityUtils.Helper.ARCamera.DistCoeffsValues

getset

Specifies the initial value of distCoeffs used for camera calibration. If the number of elements in this array is less than 5, all elements are set to 0.

◆ ImageHeight

virtual int OpenCVForUnity.UnityUtils.Helper.ARCamera.ImageHeight

getset

Set the height of image.

◆ ImageWidth

virtual int OpenCVForUnity.UnityUtils.Helper.ARCamera.ImageWidth

getset

Set the width of image.

◆ Scale

virtual Vector2 OpenCVForUnity.UnityUtils.Helper.ARCamera.Scale

getset

Set the scale vector.

◆ ScreenHeight

virtual int OpenCVForUnity.UnityUtils.Helper.ARCamera.ScreenHeight

getset

Set the height of screen.

◆ ScreenWidth

virtual int OpenCVForUnity.UnityUtils.Helper.ARCamera.ScreenWidth

getset

Set the width of screen.

◆ Translation

virtual Vector2 OpenCVForUnity.UnityUtils.Helper.ARCamera.Translation

getset

Set the translation vector.

The documentation for this class was generated from the following file:

OpenCVForUnity/Assets/OpenCVForUnity/org/opencv/_unity/Helper/ARHelper/ARCamera.cs

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Properties

Detailed Description

Member Function Documentation

◆ Awake()

◆ CalculateProjectionMatrixFromCameraMatrixValuesWithTranslationAndScale()

◆ CopyCamMatrixToCamMatrixValues()

◆ CopyDistCoeffsToDistCoeffsValues()

◆ Dispose()

◆ GetCamMatrix()

◆ GetDistCoeffs()

◆ Initialize()

◆ OnDestroy()

◆ OnValidate()

◆ SetARCameraParameters()

◆ SetCamMatrix()

◆ SetCamMatrixValuesFromImageSize()

◆ SetDistCoeffs()

◆ UpdateProjectionMatrix()

◆ ValidateArraySize()

Member Data Documentation

◆ _cachedCamera

◆ _camMatrix

◆ _camMatrixValues

◆ _distCoeffs

◆ _distCoeffsValues

◆ _imageHeight

◆ _imageWidth

◆ _scale

◆ _screenHeight

◆ _screenWidth

◆ _translation

◆ CAMMATRIXVALUES_MAX_SIZE

◆ CAMMATRIXVALUES_MIN_SIZE

◆ DISTCOEFFSVALUES_MAX_SIZE

◆ DISTCOEFFSVALUES_MIN_SIZE

Property Documentation

◆ CamMatrixValues

◆ DistCoeffsValues

◆ ImageHeight

◆ ImageWidth

◆ Scale

◆ ScreenHeight

◆ ScreenWidth

◆ Translation