/// <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>
/// This is called when successfully connected to the Tango service.
/// </summary>
public void OnTangoServiceConnected()
{
// Disable
if (!m_tangoApplication.EnableVideoOverlay)
{
IsRendering = false;
return;
}
CommandBuffer buf = VideoOverlayProvider.CreateARScreenCommandBuffer();
m_camera.AddCommandBuffer(CameraEvent.BeforeForwardOpaque, buf);
m_camera.AddCommandBuffer(CameraEvent.BeforeGBuffer, buf);
_SetRenderAndCamera(AndroidHelper.GetDisplayRotation(), AndroidHelper.GetColorCameraRotation());
IsRendering = true;
}
/// <summary>
/// This is called when successfully connected to the Tango service.
/// </summary>
public void OnTangoServiceConnected()
{
_SetRenderAndCamera(AndroidHelper.GetDisplayRotation(),
AndroidHelper.GetColorCameraRotation());
}
public Tango.OrientationManager.Rotation GetColorCameraRotation()
{
return(AndroidHelper.GetColorCameraRotation());
}
