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Dirty TODO

  • ply: get depth sensor intrinsics #1083 + extrinsics between between 2 cameras (try to get arFrame.acquireSceneMesh() ply/obj and compare with mine) #638
  • try using a thread to save hi-res image
  • create obj from ply
  • project images on obj

Reconstruction

send images to server merge depth (TSDF - linux - CPU)

Intrinsics and API image

Camera Intrinsics (Honor View 20 - AR Engine : ARCameraIntrinsics + ARCamera )

  • principalPoint : 718.911 543.41327 // (cx, cy)
  • imageDimensions : 1440 1080 //(width, heigth)
  • distortions : 0.122519 -0.229927 0.144746 -6.96E-4 -4.39E-4
  • focalLength : 1072.9441 1075.7474 //(fx, fy ) in px - Why 2 values ?
  • getProjectionMatrix : 1.4902 0 0 0 / 0 3.0466316 0 0 / 0.001512431 0.009666785 -1.002002 -1 / 0 0 -0.2002002 0 Calculated (image is landscape)
  • horizontal fov: Math.atan2(1440/2,1075.7473)180/Math.PI2=67.6
  • vertical fov: Math.atan2(1080/2,1075.7473)180/Math.PI2=53.3
  • diagonal : Math.sqrt(Math.pow(1080,2)+Math.pow(1440,2))=1800
  • diafov: Math.atan2(1800/2,1075.7473)180/Math.PI2=79.8
  • cx = width * (1 - proj[2][0]) / 2 = 1440*(1-0.001512431)/2 = 718.911
  • cy = height * (1 - proj[2][1]) / 2 = 1080*(1-0.009666785)/2 = 534.780
  • fx = width * proj[0][0] / 2 = 1440*1.4902/2=1072.944
  • fy = height * proj[1][1] / 2 = 1080*3.0466316/2=1645.18 ?!? seems incorrect!

Camera Intrinsics (Huawei P20 Pro - AR Engine)

  • principalPoint: 535.04553 729.8055 //in px
  • imageDimensions : 1080 1440 //in px
  • distortions : 0.093129 -0.187359 0.138948 1.34E-4 -4.29E-4
  • focalLength : 1101.3862 1100.9385 //in px

To get both depth and RGB :

API Camera2 - Honor View 20 (TotalCaptureResult result) result.get(CaptureResult.LENS_FOCAL_LENGTH) = 4.75 result.get(CaptureResult.LENS_APERTURE) = 1.8 result.get(CaptureResult.LENS_DISTORTION) = [0,0,0,0,0] result.get(CaptureResult.LENS_FOCUS_DISTANCE) = 1.0713588 //in mm result.get(CaptureResult.LENS_FOCUS_RANGE) = 0.0 8.0 result.get(CaptureResult.LENS_INTRINSIC_CALIBRATION) = [0,0,0,0,0,0,0,0]

characteristics.get(CameraCharacteristics.SENSOR_INFO_PHYSICAL_SIZE) = 7.28x5.46 //in mm characteristics.get(CameraCharacteristics.LENS_INFO_AVAILABLE_FOCAL_LENGTHS) = 4.75 characteristics.get(CameraCharacteristics.LENS_INFO_MINIMUM_FOCUS_DISTANCE) = 8 characteristics.get(CameraCharacteristics.LENS_INFO_HYPERFOCAL_DISTANCE) = 0.2 characteristics.get(CameraCharacteristics.DEPTH_DEPTH_IS_EXCLUSIVE) = true characteristics.get(CameraCharacteristics.LENS_INTRINSIC_CALIBRATION) = [0,0,0,0,0] characteristics.get(CameraCharacteristics.LENS_POSE_TRANSLATION) = [0,0,0] characteristics.get(CameraCharacteristics.LENS_POSE_ROTATION) = [1,0,0,0] characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION) = 90

focalLengh in pixel = CaptureResult.LENS_FOCUS_DISTANCE * 8000 / CameraCharacteristics.SENSOR_INFO_PHYSICAL_SIZE[0]

Huawei P20 Pro #0 result.get(CaptureResult.LENS_FOCAL_LENGTH) = 5.58 result.get(CaptureResult.LENS_APERTURE) = 1.8 result.get(CaptureResult.LENS_DISTORTION) = [0,0,0,0,0] result.get(CaptureResult.LENS_FOCUS_DISTANCE) = 1.9061583 result.get(CaptureResult.LENS_FOCUS_RANGE) = 0 10 result.get(CaptureResult.LENS_INTRINSIC_CALIBRATION) = [0,X7] characteristics.get(CameraCharacteristics.SENSOR_INFO_PHYSICAL_SIZE) = 7.3x5.5 //in mm

Huawei P20 Pro #camera zoom result.get(CaptureResult.LENS_FOCAL_LENGTH) = 7.48 result.get(CaptureResult.LENS_APERTURE) = 2.4 result.get(CaptureResult.LENS_DISTORTION) = [0,0,0,0,0] result.get(CaptureResult.LENS_FOCUS_DISTANCE) = 9.775171 //change result.get(CaptureResult.LENS_FOCUS_RANGE) = 0 10 result.get(CaptureResult.LENS_INTRINSIC_CALIBRATION) = [0,X7] request.get(CaptureRequest.LENS_FOCAL_LENGTH)= 7.48

https://quaternions.online/