Google Tango API之TangoCameraIntr

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Information about the intrinsic parameters for a given Tango camera. Note that width and height are specified in pixels.
Given a 3D point (X, Y, Z) in camera coordinates, the corresponding pixel coordinates (x, y) are:

x = X / Z * fx * rd / ru + cx
y = Y / Z * fy * rd / ru + cy
The normalized radial distance ru is given by:
ru = sqrt((X^2 + Y^2) / (Z^2))

关于给定Tango相机的内在参数的信息。 请注意，宽度和高度以像素为单位。
给定相机坐标中的3D点（X，Y，Z），对应的像素坐标（x，y）为：

x = X / Z * fx * rd / ru + cx
y = Y / Z * fy * rd / ru + cy
归一化的径向距离ru由下式给出：
ru = sqrt（（X ^ 2 + Y ^ 2）/（Z ^ 2））

The distorted radial distance rd depends on the distortion model used.
For TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS, rd is a polynomial that depends on the 3 distortion coefficients k1, k2 and k3:

rd = ru + k1 * ru^3 + k2 * ru^5 + k3 * ru^7
For TANGO_CALIBRATION_EQUIDISTANT, rd depends on the single distortion coefficient w:
rd = 1 / w * arctan(2 * ru * tan(w / 2))
变形的径向距离rd取决于所使用的失真模型。
对于TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS，rd是取决于3个失真系数k1，k2和k3的多项式：

rd = ru + k1 * ru ^ 3 + k2 * ru ^ 5 + k3 * ru ^ 7
对于TANGO_CALIBRATION_EQUIDISTANT，rd取决于单个失真系数w：
rd = 1 / w * arctan（2 * ru * tan（w / 2））

Field Summary
字段汇总
Modifier and Type Field and Description
修饰符和类型 字段和描述
int calibrationType
The calibration method used to compute the intrinsic parameters for the camera.
校准方法用于计算摄像机的内部参数
int cameraId
This will be set to one of the Tango camera ids described above.
这将被设置为一个Tango相机上面描述的id。
static <any> CREATOR
Implements the required Creator interface for an Android Parcelable.
Android Parcelable实现所需的创造者接口。
double cx
The principal point offset in pixels along the x axis.
主点沿x轴的像素偏移量。

double cy
The principal point offset in pixels along the y axis.
主点沿y轴以像素为单位偏移。

double[] distortion
The distortion parameters of the camera.
相机的畸变参数。

double fx
The focal length of the camera in pixels along the x axis.
沿x轴的摄像机焦距（以像素为单位）。

double fy
The focal length of the camera in pixels along the y axis.
沿y轴的摄像机焦距（以像素为单位）。

int height
The height of the camera image in pixels.
相机图片的高度（以像素为单位）。

static int TANGO_CALIBRATION_EQUIDISTANT
The FOV camera model described in Straight lines have to be straight.

static int TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS

static int TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS
Tsai's K1, K2, K3 model.

static int TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS

static int TANGO_CALIBRATION_UNKNOWN
An unknown calibration type for the Tango camera.
Tango相机的未知校准类型。

static int TANGO_CAMERA_COLOR
The id corresponding to Tango's back facing color camera.
该ID对应于Tango的背面彩色摄像机。

static int TANGO_CAMERA_DEPTH
The id corresponding to Tango's depth camera.
相对应的id Tango的深度相机。

static int TANGO_CAMERA_FISHEYE
The id corresponding to Tango's wide-angle ("fisheye") camera.
对应于Tango的广角（“鱼眼”）相机的id。

static int TANGO_CAMERA_RGBIR

int width
The width of the camera image in pixels.
相机图片的宽度（以像素为单位）。

Constructor Summary
Constructors
Constructor and Description
构造函数摘要
构造函数
构造函数和说明

TangoCameraIntrinsics()
Constructs an empty TangoCameraIntrinsics object.
构造一个空TangoCameraIntrinsics对象。

Method Summary
All Methods Instance Methods Concrete Methods
Modifier and Type
Method and Description

int describeContents()
Needed to implement the Android Parcelable interface.
需要实现Android Parcelable接口。

void readFromParcel(Parcel in)
Populates a TangoCameraIntrinsics object with data from an Android Parcel.
使用Android Parcel中的数据填充TangoCameraIntrinsics对象。

void writeToParcel(Parcel dest, int flags)
Writes a TangoCameraIntrinsics object to an Android Parcel.
使用Android Parcel中的数据填充TangoCameraIntrinsics对象。