public double[] getCameraIntri()
{
byte[] reply = sendRequest(Command.GetCameraIntri);
JObject info = JObject.Parse(System.Text.Encoding.Default.GetString(reply.Skip(SIZE_OF_JSON).ToArray()));
string intri_original = info["camera_intri"]["intrinsic"].ToString();
int start = intri_original.LastIndexOf('[');
int end = intri_original.LastIndexOf(']');
int length = intri_original.Length;
if (start == -1 || end == -1 || end < start)
{
Console.WriteLine("Wrong camera intrinsics");
return(null);
}
string intri_str = intri_original.Remove(0, start + 1).Substring(0, end - start - 1);
string[] intrivalue_str = intri_str.Split(',');
if (intrivalue_str.Length != 4)
{
Console.WriteLine("Wrong intrinscis value");
return(null);
}
CameraIntri intri = new CameraIntri();
intri.setValue(double.Parse(intrivalue_str[0]),
double.Parse(intrivalue_str[1]),
double.Parse(intrivalue_str[2]),
double.Parse(intrivalue_str[3])
);
double[] rel = intri.getValue();
return(rel);
}
public double[] getCameraIntri()
{
Mmind.Response reply = sendRequest(GetCameraIntri, 0.0, "");
string intri_original = reply.CamIntri;
int start = intri_original.LastIndexOf('[');
int end = intri_original.LastIndexOf(']');
int length = intri_original.Length;
if (start == -1 || end == -1 || end < start)
{
Console.WriteLine("Wrong camera intrinsics");
return(null);
}
string intri_str = intri_original.Remove(0, start + 1).Substring(0, end - start - 1);
string[] intrivalue_str = intri_str.Split(',');
if (intrivalue_str.Length != 4)
{
Console.WriteLine("Wrong intrinscis value");
return(null);
}
CameraIntri intri = new CameraIntri();
intri.setValue(double.Parse(intrivalue_str[0]),
double.Parse(intrivalue_str[1]),
double.Parse(intrivalue_str[2]),
double.Parse(intrivalue_str[3])
);
double[] rel = intri.getValue();
//Console.WriteLine("fx = " + rel[0].ToString());
//Console.WriteLine("fy = " + rel[1].ToString());
//Console.WriteLine("u = " + rel[2].ToString());
//Console.WriteLine("v = " + rel[3].ToString());
return(rel);
}