public static Vector4 GetIntrinsics()
{
Vector4 intrinsics = Vector4.zero;
ARCameraIntrinsics intr = ARFrame.ImageIntrinsics;
intrinsics.x = intr.ARFocalLength.x;
intrinsics.y = intr.ARFocalLength.y;
intrinsics.z = intr.ARPrincipalPoint.y;
intrinsics.w = intr.ARPrincipalPoint.x;
return(intrinsics);
}
public ARCameraIntrinsics GetImageIntrinsics(IntPtr cameraHandle)
{
ARDebug.LogInfo("ARCamera adapter get image intrinsics start");
IntPtr arCameraIntrinsicsHandle = IntPtr.Zero;
NDKAPI.HwArCameraIntrinsics_create(m_ndkSession.SessionHandle, ref arCameraIntrinsicsHandle);
NDKAPI.HwArCamera_getImageIntrinsics(m_ndkSession.SessionHandle, cameraHandle, arCameraIntrinsicsHandle);
ARCameraIntrinsics imageIntrinsics = GetARCameraIntrinsicsFromeHandle(arCameraIntrinsicsHandle);
NDKAPI.HwArCameraIntrinsics_destroy(m_ndkSession.SessionHandle, arCameraIntrinsicsHandle);
ARDebug.LogInfo("ARCamera adapter get image intrinsics end");
return(imageIntrinsics);
}
public static Vector4 GetIntrinsics(float width, float height)
{
ARCameraIntrinsics intr = ARFrame.ImageIntrinsics;
Vector4 intrinsics = Vector4.zero;
Camera cam = Camera.main;
Matrix4x4 proj = HuaweiARUnitySDK.ARSession.GetProjectionMatrix(cam.nearClipPlane, cam.farClipPlane);
float fy = 0.5f * proj.m11 * width;
float cx = 0.5f * (proj.m02 + 1.0f) * height;
float cy = 0.5f * (proj.m12 + 1.0f) * width;
intrinsics.x = intrinsics.y = fy;
intrinsics.z = cy;
intrinsics.w = cx;
return(intrinsics);
}