/// <summary>
/// Get the intrinsic calibration parameters for a given camera.
///
/// The intrinsics are as specified by the TangoCameraIntrinsics struct. Intrinsics are read from the
/// on-device intrinsics file (typically <code>/sdcard/config/calibration.xml</code>, but to ensure
/// compatibility applications should only access these parameters via the API), or default internal model
/// parameters corresponding to the device are used if the calibration.xml file is not found.
/// </summary>
/// <param name="cameraId">The camera ID to retrieve the calibration intrinsics for.</param>
/// <param name="intrinsics">A TangoCameraIntrinsics filled with calibration intrinsics for the camera.</param>
public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics)
{
int returnValue = VideoOverlayAPI.TangoService_getCameraIntrinsics(cameraId, intrinsics);
#if UNITY_EDITOR
// In editor, base 'intrinsics' off of properties of emulation camera.
if (cameraId == TangoEnums.TangoCameraId.TANGO_CAMERA_COLOR && EmulatedEnvironmentRenderHelper.m_emulationCamera != null)
{
// Instantiate any resources that we haven't yet.
if (!m_emulationIsInitialized)
{
_InitializeResourcesForEmulation();
m_emulationIsInitialized = true;
}
EmulatedEnvironmentRenderHelper.m_emulationCamera.targetTexture = m_emulatedColorRenderTexture;
intrinsics.width = (uint)EMULATED_CAMERA_WIDTH;
intrinsics.height = (uint)EMULATED_CAMERA_HEIGHT;
float height = Screen.height;
float fov = EmulatedEnvironmentRenderHelper.m_emulationCamera.fieldOfView;
float focalLengthInPixels = (1 / Mathf.Tan(fov * 0.5f * Mathf.Deg2Rad)) * (intrinsics.height * 0.5f);
intrinsics.fy = intrinsics.fx = focalLengthInPixels;
intrinsics.cx = intrinsics.width / 2f;
intrinsics.cy = intrinsics.height / 2f;
}
#endif
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!");
}
}
/// <summary>
/// Get the camera/sensor intrinsics.
/// </summary>
/// <param name="cameraId">Camera identifier.</param>
/// <param name="intrinsics">Camera intrinsics data.</param>
public static void GetIntrinsics(TangoEnums.TangoCameraId cameraId, [Out] TangoCameraIntrinsics intrinsics)
{
int returnValue = VideoOverlayAPI.TangoService_getCameraIntrinsics(cameraId, intrinsics);
if (returnValue != Common.ErrorType.TANGO_SUCCESS)
{
Debug.Log("IntrinsicsProviderAPI.TangoService_getCameraIntrinsics() failed!");
}
}