CameraInfo

record · sealed thread-safe

namespace AR51.Net;

public sealed record CameraInfo(string Id, string Name, string Type, bool IsConnected, string ServerHost, int Width, int Height, int FrameRate, CameraCalibration? Calibration);

An AR 51 camera.

Units

Positions are in meters, in the AR 51 world: left-handed, X right, Y up, Z forward (the same axes as Unity). See Data conventions.

How-to

This page is reference (facts only). For a walkthrough with a complete sample, see the Cameras guide.

Example

// The camera's position in the AR 51 world, from its calibration.
if (camera.Calibration is { } calibration && Matrix4x4.Invert(calibration.WorldToCamera, out Matrix4x4 cameraToWorld))
    Console.WriteLine($"{camera.Name} is at {cameraToWorld.Translation} m");

Properties

Positional record: set them in the constructor, read them as properties, and copy with changes using with.

Property	Type	Description
Id	string	The camera's unique id (its serial number).
Name	string	The camera's display name, or Id when it has none.
Type	string	The kind of camera driver, for example "GeniCam".
IsConnected	bool	Whether the camera is connected and sending video.
ServerHost	string	The IP address of the camera server the camera is plugged into.
Width	int	Image width, in pixels.
Height	int	Image height, in pixels.
FrameRate	int	Frames per second the camera captures.
Calibration	CameraCalibration?	Intrinsic and extrinsic calibration values, or null when the camera is not calibrated.

Related types

Small types used by this record, documented here.

CameraCalibration

record · sealed

public sealed record CameraCalibration(float Fx, float Fy, float Cx, float Cy, LensDistortion Distortion, Matrix4x4 WorldToCamera);

A camera's calibration values, in the OpenCV convention.

Property	Type	Description
Fx	float	Focal length along X, in pixels.
Fy	float	Focal length along Y, in pixels.
Cx	float	Principal point X, in pixels.
Cy	float	Principal point Y, in pixels.
Distortion	LensDistortion	Lens distortion coefficients.
WorldToCamera	Matrix4x4	Transforms an AR 51 world point (meters; left-handed, X right, Y up, Z forward) into the camera's space (meters; X right, Y down, Z forward, as in OpenCV): Vector3.Transform(worldPoint, WorldToCamera). The pixel is then (Fx · x / z + Cx, Fy · y / z + Cy), before distortion.

LensDistortion

record struct · readonly

public readonly record struct LensDistortion(float K1, float K2, float P1, float P2, float K3);

Lens distortion coefficients, in the OpenCV order (k1, k2, p1, p2, k3).

Property	Type	Description
K1	float	First radial coefficient.
K2	float	Second radial coefficient.
P1	float	First tangential coefficient.
P2	float	Second tangential coefficient.
K3	float	Third radial coefficient.

See also

• Cameras guide — walkthrough with a complete, compiled sample
• Class index — every AR51.Net type
• Data conventions, threading and errors