/// <summary>
/// Get the intrinsic calibration parameters for a given camera, this also aligns the camera intrinsics based
/// on device orientation.
///
/// For example, if the device orientation is portrait and camera intrinsics is in
/// landscape. This function will inverse the intrinsic x and y, and report intrinsics in portrait mode.
///
/// The intrinsics are as specified by the TangoCameraIntrinsics struct and are accessed via the API.
/// </summary>
/// <param name="cameraId">The camera ID to retrieve the calibration intrinsics for.</param>
/// <param name="alignedIntrinsics">
/// A TangoCameraIntrinsics filled with calibration intrinsics for the camera, this intrinsics is also
/// aligned with device orientation.
/// </param>
public static void GetDeviceOrientationAlignedIntrinsics(TangoEnums.TangoCameraId cameraId,
TangoCameraIntrinsics alignedIntrinsics)
{
TangoCameraIntrinsics intrinsics = new TangoCameraIntrinsics();
GetIntrinsics(TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR, intrinsics);
float intrinsicsRatio = (float)intrinsics.width / (float)intrinsics.height;
Tango.OrientationManager.Rotation rotation = TangoSupport.RotateFromAToB(
AndroidHelper.GetDisplayRotation(),
AndroidHelper.GetColorCameraRotation());
switch (rotation)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
alignedIntrinsics.cx = intrinsics.cy;
alignedIntrinsics.cy = intrinsics.width - intrinsics.cx;
alignedIntrinsics.fx = intrinsics.fy;
alignedIntrinsics.fy = intrinsics.fx;
alignedIntrinsics.width = intrinsics.height;
alignedIntrinsics.height = intrinsics.width;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
alignedIntrinsics.cx = intrinsics.width - intrinsics.cx;
alignedIntrinsics.cy = intrinsics.height - intrinsics.cy;
alignedIntrinsics.fx = intrinsics.fx;
alignedIntrinsics.fy = intrinsics.fy;
alignedIntrinsics.width = intrinsics.width;
alignedIntrinsics.height = intrinsics.height;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
alignedIntrinsics.cx = intrinsics.height - intrinsics.cy;
alignedIntrinsics.cy = intrinsics.cx;
alignedIntrinsics.fx = intrinsics.fy;
alignedIntrinsics.fy = intrinsics.fx;
alignedIntrinsics.width = intrinsics.height;
alignedIntrinsics.height = intrinsics.width;
break;
default:
alignedIntrinsics.cx = intrinsics.cx;
alignedIntrinsics.cy = intrinsics.cy;
alignedIntrinsics.fx = intrinsics.fx;
alignedIntrinsics.fy = intrinsics.fy;
alignedIntrinsics.width = intrinsics.width;
alignedIntrinsics.height = intrinsics.height;
break;
}
alignedIntrinsics.distortion0 = intrinsics.distortion0;
alignedIntrinsics.distortion1 = intrinsics.distortion1;
alignedIntrinsics.distortion2 = intrinsics.distortion2;
alignedIntrinsics.distortion3 = intrinsics.distortion3;
alignedIntrinsics.distortion4 = intrinsics.distortion4;
alignedIntrinsics.camera_id = intrinsics.camera_id;
alignedIntrinsics.calibration_type = intrinsics.calibration_type;
}
/// <summary>
/// Compute a rotation from rotation a to rotation b, in form of the OrientationManager.Rotation enum.
/// </summary>
/// <param name="b">Target rotation frame.</param>
/// <param name="a">Start rotation frame.</param>
/// <returns>The orientation index that follows Android screen rotation standard.</returns>
public static Tango.OrientationManager.Rotation RotateFromAToB(Tango.OrientationManager.Rotation b,
Tango.OrientationManager.Rotation a)
{
int ret = (int)b - (int)a;
if (ret < 0)
{
ret += 4;
}
return((Tango.OrientationManager.Rotation)(ret % 4));
}
/// <summary>
/// Update current additional rotation matrix based on the display orientation and color camera orientation.
///
/// Not that m_colorCameraPoseRotation will need to compensate the rotation with physical color camera.
/// </summary>
/// <param name="displayRotation">Orientation of current activity. Index enum is same same as Android screen
/// orientation standard.</param>
/// <param name="colorCameraRotation">Orientation of current color camera sensor. Index enum is same as Android
/// camera orientation standard.</param>
public static void UpdatePoseMatrixFromDeviceRotation(OrientationManager.Rotation displayRotation,
OrientationManager.Rotation colorCameraRotation)
{
Tango.OrientationManager.Rotation r = RotateFromAToB(displayRotation, colorCameraRotation);
switch (r)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_colorCameraPoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_colorCameraPoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_colorCameraPoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_colorCameraPoseRotation = Matrix4x4.identity;
break;
}
switch (displayRotation)
{
case Tango.OrientationManager.Rotation.ROTATION_90:
m_devicePoseRotation = ROTATION90_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_180:
m_devicePoseRotation = ROTATION180_T_DEFAULT;
break;
case Tango.OrientationManager.Rotation.ROTATION_270:
m_devicePoseRotation = ROTATION270_T_DEFAULT;
break;
default:
m_devicePoseRotation = Matrix4x4.identity;
break;
}
}
