/// <summary>
/// Copy Constructor (shallow). On Windows UWP, values of the original camera intrinsics are used.
/// </summary>
public CameraIntrinsic([NotNull] CameraIntrinsic intrinsic)
{
if (intrinsic == null)
{
throw new ArgumentNullException(nameof(intrinsic));
}
#if ENABLE_WINMD_SUPPORT
WindowsCameraIntrinsics = intrinsic.WindowsCameraIntrinsics;
if (WindowsCameraIntrinsics == null)
{
throw new NullReferenceException(nameof(WindowsCameraIntrinsics));
}
FocalLength = new Vector2(WindowsCameraIntrinsics.FocalLength.X, WindowsCameraIntrinsics.FocalLength.Y);
ImageWidth = WindowsCameraIntrinsics.ImageWidth;
ImageHeight = WindowsCameraIntrinsics.ImageHeight;
PrincipalPoint = new Vector2(WindowsCameraIntrinsics.PrincipalPoint.X, WindowsCameraIntrinsics.PrincipalPoint.Y);
RadialDistortion = new Vector3(WindowsCameraIntrinsics.RadialDistortion.X, WindowsCameraIntrinsics.RadialDistortion.Y, WindowsCameraIntrinsics.RadialDistortion.Z);
TangentialDistortion = new Vector2(WindowsCameraIntrinsics.TangentialDistortion.X, WindowsCameraIntrinsics.TangentialDistortion.Y);
UndistortedProjectionTransform = WindowsCameraIntrinsics.UndistortedProjectionTransform.ToUnity();
#else
FocalLength = intrinsic.FocalLength;
ImageWidth = intrinsic.ImageWidth;
ImageHeight = intrinsic.ImageHeight;
PrincipalPoint = intrinsic.PrincipalPoint;
RadialDistortion = intrinsic.RadialDistortion;
TangentialDistortion = intrinsic.TangentialDistortion;
UndistortedProjectionTransform = intrinsic.UndistortedProjectionTransform;
#endif
}
public CameraIntrinsic([NotNull] Windows.Media.Devices.Core.CameraIntrinsics cameraIntrinsics)
{
if (cameraIntrinsics == null)
{
throw new ArgumentNullException(nameof(cameraIntrinsics));
}
FocalLength = new Vector2(cameraIntrinsics.FocalLength.X, cameraIntrinsics.FocalLength.Y);
ImageWidth = cameraIntrinsics.ImageWidth;
ImageHeight = cameraIntrinsics.ImageHeight;
PrincipalPoint = new Vector2(cameraIntrinsics.PrincipalPoint.X, cameraIntrinsics.PrincipalPoint.Y);
RadialDistortion = new Vector3(cameraIntrinsics.RadialDistortion.X, cameraIntrinsics.RadialDistortion.Y, cameraIntrinsics.RadialDistortion.Z);
TangentialDistortion = new Vector2(cameraIntrinsics.TangentialDistortion.X, cameraIntrinsics.TangentialDistortion.Y);
UndistortedProjectionTransform = cameraIntrinsics.UndistortedProjectionTransform.ToUnity();
WindowsCameraIntrinsics = cameraIntrinsics;
}
internal CameraIntrinsics(Windows.Media.Devices.Core.CameraIntrinsics rtCi)
{
OriginalIntrinsics = rtCi;
FrameWidth = rtCi.ImageWidth;
FrameHeight = rtCi.ImageHeight;
FocalLengthX = rtCi.FocalLength.X;
FocalLengthY = rtCi.FocalLength.Y;
PrincipalPointX = rtCi.PrincipalPoint.X;
// TODO: validate - 'inverted' principal point to fit all existing kinect algorithms & Kinect SDK: SDK_Cy = frame_height - RT_Cy
// (who had a great idea to break formulas used for a decade in 'CV using kinect' papers?)
PrincipalPointY = FrameHeight - rtCi.PrincipalPoint.Y;
RadialDistortionSecondOrder = rtCi.RadialDistortion.X;
RadialDistortionFourthOrder = rtCi.RadialDistortion.Y;
RadialDistortionSixthOrder = rtCi.RadialDistortion.Z;
}
private CameraIntrinsics ConvertIntrinsics(Windows.Media.Devices.Core.CameraIntrinsics mediaFrameIntrinsics)
{
CameraIntrinsics intrinsics = null;
if (mediaFrameIntrinsics != null)
{
Vector2 focalLength = new Vector2(mediaFrameIntrinsics.FocalLength.X, mediaFrameIntrinsics.FocalLength.Y);
uint imageWidth = mediaFrameIntrinsics.ImageWidth;
uint imageHeight = mediaFrameIntrinsics.ImageHeight;
Vector2 principalPoint = new Vector2(mediaFrameIntrinsics.PrincipalPoint.X, mediaFrameIntrinsics.PrincipalPoint.Y);
Vector3 radialDistortion = new Vector3(mediaFrameIntrinsics.RadialDistortion.X, mediaFrameIntrinsics.RadialDistortion.Y, mediaFrameIntrinsics.RadialDistortion.Z);
Vector2 tangentialDistortion = new Vector2(mediaFrameIntrinsics.TangentialDistortion.X, mediaFrameIntrinsics.TangentialDistortion.Y);
Matrix4x4 undistortedProjectionTransform = ConvertMatrix(mediaFrameIntrinsics.UndistortedProjectionTransform);
intrinsics = new CameraIntrinsics(focalLength, imageWidth, imageHeight, principalPoint, radialDistortion, tangentialDistortion, undistortedProjectionTransform);
}
return(intrinsics);
}
