/// <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);
}
/// <summary>
/// Get camera intrinsic parameter.
/// Requires ComputerVision privilege.
/// </summary>
/// <param name="outParameters">Output structure containing intrinsic parameters on success.</param>
/// <returns>
/// MLResult.Result will be <c>MLResult.Code.Ok</c> if successful.
/// MLResult.Result will be <c>MLResult.Code.PrivilegeDenied</c> if necessary privilege is missing.
/// MLResult.Result will be <c>MLResult.Code.UnspecifiedFailure</c> if unable to retrieve intrinsic parameter.
/// </returns>
public static MLResult GetIntrinsicCalibrationParameters(out MLCVCamera.IntrinsicCalibrationParameters outParameters)
{
return(Instance.InternalGetIntrinsicCalibrationParameters(MLCVCameraNativeBindings.CameraID.ColorCamera, out outParameters));
}
