/// <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);
}
protected override MLResult.Code StartAPI()
{
if (!MLDevice.IsReady())
{
MLPluginLog.WarningFormat("MLCamera API is attempting to start before the MagicLeap XR Loader has been initialiazed, this could cause issues with MLCVCamera features. If your application needs these features please wait to start API until Monobehavior.Start and if issue persists make sure ProjectSettings/XR/Initialize On Startup is enabled.");
}
MLResult result = MLHeadTracking.Start();
if (result.IsOk)
{
result = MLHeadTracking.GetState(out MLHeadTracking.State headTrackingState);
if (!result.IsOk)
{
MLPluginLog.ErrorFormat("MLCVCamera.StartAPI failed to get head pose state. Reason: {0}", result);
}
headTrackerHandle = headTrackingState.Handle;
MLHeadTracking.Stop();
}
else
{
MLPluginLog.ErrorFormat("MLCVCamera.StartAPI failed to get head pose state. MLHeadTracking could not be successfully started.");
}
return(MLCVCameraNativeBindings.MLCVCameraTrackingCreate(ref Handle));
}
/// <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);
}
protected override MLResult.Code StopAPI() => MLCVCameraNativeBindings.MLCVCameraTrackingDestroy(Handle);
