/// <summary>
/// Get the intrinsic calibration parameters.
/// </summary>
/// <param name="cameraId">The id of the camera.</param>
/// <param name="outParameters">The intrinsic calibration parameters.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if obtained result extras successfully.
/// MLResult.Result will be <c>MLResult.Code.InvalidParam</c> if failed to obtain result extras due to invalid input parameter.
/// </returns>
private MLResult InternalGetIntrinsicCalibrationParameters(MLCVCameraNativeBindings.CameraID cameraId, out MLCVCamera.IntrinsicCalibrationParameters outParameters)
{
outParameters = new MLCVCamera.IntrinsicCalibrationParameters();
MLCVCameraNativeBindings.IntrinsicCalibrationParametersNative internalParameters =
MLCVCameraNativeBindings.IntrinsicCalibrationParametersNative.Create();
MLResult.Code resultCode = MLCVCameraNativeBindings.MLCVCameraGetIntrinsicCalibrationParameters(Handle, cameraId, ref internalParameters);
MLResult parametersResult = MLResult.Create(resultCode);
if (!parametersResult.IsOk)
{
MLPluginLog.ErrorFormat("MLCamera.InternalGetIntrinsicCalibrationParameters failed to get camera parameters. Reason: {0}", parametersResult);
}
else
{
outParameters.Width = internalParameters.Width;
outParameters.Height = internalParameters.Height;
outParameters.FocalLength = new Vector2(internalParameters.FocalLength.X, internalParameters.FocalLength.Y);
outParameters.PrincipalPoint = new Vector2(internalParameters.PrincipalPoint.X, internalParameters.PrincipalPoint.Y);
outParameters.FOV = internalParameters.FOV;
outParameters.Distortion = new double[internalParameters.Distortion.Length];
internalParameters.Distortion.CopyTo(outParameters.Distortion, 0);
}
return(parametersResult);
}
/// <summary>
/// Get the frame pose.
/// </summary>
/// <param name="cameraId">The camera id.</param>
/// <param name="vcamTimestamp">The timestamp of the frame pose.</param>
/// <param name="outTransform">The transform of the frame pose.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if failed due to internal error.
/// </returns>
private MLResult InternalGetFramePose(MLCVCameraNativeBindings.CameraID cameraId, ulong vcamTimestamp, out Matrix4x4 outTransform)
{
MagicLeapNativeBindings.MLTransform outInternalTransform = new MagicLeapNativeBindings.MLTransform();
MLResult.Code resultCode = MLCVCameraNativeBindings.MLCVCameraGetFramePose(Handle, headTrackerHandle, cameraId, vcamTimestamp, ref outInternalTransform);
MLResult poseResult = MLResult.Create(resultCode);
if (!poseResult.IsOk)
{
MLPluginLog.ErrorFormat("MLCamera.InternalGetFramePose failed to get camera frame pose. Reason: {0}", poseResult);
outTransform = new Matrix4x4();
}
else
{
outTransform = MLConvert.ToUnity(outInternalTransform);
}
return(poseResult);
}
