Class CameraConfig

The fixed properties for Vector's camera.

A full 3x3 calibration matrix for doing 3D reasoning based on the camera images would look like:

+--------------+--------------+---------------+ |focal_length.x| 0 | center.x | +--------------+--------------+---------------+ | 0 |focal_length.y| center.y | +--------------+--------------+---------------+ | 0 | 0 | 1 | +--------------+--------------+---------------+

Inheritance

Object

CameraConfig

Namespace: Anki.Vector.Types

Assembly: Anki.Vector.dll

Syntax

public class CameraConfig

Properties

Center

Gets the focal center of the camera.

This is the position of the optical center of projection within the image. It will be close to the center of the image, but adjusted based on the calibration of the lens. It is in floating point pixel values e.g. (155.11, 111.40).

public Vector2 Center { get; }

Property Type

Vector2

FocalLength

Gets the focal length of the camera.

This is focal length combined with pixel skew (as the pixels aren't perfectly square), so there are subtly different values for x and y. It is in floating point pixel values e.g. (288.87, 288.36)

public Vector2 FocalLength { get; }

Property Type

Vector2

FovX

Gets the x (horizontal) field of view in radians.

public float FovX { get; }

Property Type

Single

FovY

Gets the y (vertical) field of view in radians.

public float FovY { get; }

Property Type

Single

MaxCameraExposureTimeMs

Gets the maximum supported exposure time in milliseconds.

public uint MaxCameraExposureTimeMs { get; }

Property Type

UInt32

MaxCameraGain

Gets the maximum supported camera gain.

public float MaxCameraGain { get; }

Property Type

Single

MinCameraExposureTimeMs

Gets the minimum supported exposure time in milliseconds.

public uint MinCameraExposureTimeMs { get; }

Property Type

UInt32

MinCameraGain

Gets the minimum supported camera gain.

public float MinCameraGain { get; }

Property Type

Single