public static DS4CalibrationRecord Calibrate(PXCMCapture.Device device)
{
PXCMProjection projection = device.CreateProjection();
/* Get a calibration instance */
PXCMCalibration calib = projection.QueryInstance <PXCMCalibration>();
PXCMCalibration.StreamCalibration calibration;
PXCMCalibration.StreamTransform transformation;
calib.QueryStreamProjectionParameters(PXCMCapture.StreamType.STREAM_TYPE_COLOR, out calibration, out transformation);
float[] translation = transformation.translation;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = device.QueryColorFocalLength().toFloatArray(),
DepthFocalLength = device.QueryDepthFocalLength().toFloatArray(),
ColorFOV = device.QueryColorFieldOfView().toFloatArray(),
DepthFOV = device.QueryDepthFieldOfView().toFloatArray(),
ColorPrincipalPoint = device.QueryColorPrincipalPoint().toFloatArray(),
DepthPrincipalPoint = device.QueryDepthPrincipalPoint().toFloatArray(),
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
translation[0],
0.0f,
1.0f,
0.0f,
translation[1],
0.0f,
0.0f,
1.0f,
translation[2],
0.0f,
0.0f,
0.0f,
1.0f }
},
API = "RSSDK"
};
return(record);
}
public static DS4CalibrationRecord Calibrate(PXCMCapture.Device device)
{
PXCMProjection projection = device.CreateProjection();
/* Get a calibration instance */
PXCMCalibration calib = projection.QueryInstance<PXCMCalibration>();
PXCMCalibration.StreamCalibration calibration;
PXCMCalibration.StreamTransform transformation;
calib.QueryStreamProjectionParameters(PXCMCapture.StreamType.STREAM_TYPE_COLOR, out calibration, out transformation);
float[] translation = transformation.translation;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = device.QueryColorFocalLength().toFloatArray(),
DepthFocalLength = device.QueryDepthFocalLength().toFloatArray(),
ColorFOV = device.QueryColorFieldOfView().toFloatArray(),
DepthFOV = device.QueryDepthFieldOfView().toFloatArray(),
ColorPrincipalPoint = device.QueryColorPrincipalPoint().toFloatArray(),
DepthPrincipalPoint = device.QueryDepthPrincipalPoint().toFloatArray(),
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
translation[0],
0.0f,
1.0f,
0.0f,
translation[1],
0.0f,
0.0f,
1.0f,
translation[2],
0.0f,
0.0f,
0.0f,
1.0f}
},
API = "RSSDK"
};
return record;
}
private static DS4CalibrationRecord Calibrate(DSAPIManaged dsAPI)
{
DS4Calibration calibration;
int iSize = Marshal.SizeOf(typeof(DS4Calibration));
// Allocate memory (in the Global Heap) for the unmanaged
// representation of a TestStruct struct.
IntPtr calibrationPtr = Marshal.AllocHGlobal(iSize);
// Call the IntPtr version API.
unsafe
{
dsAPI.loadCalibartionInfo(calibrationPtr.ToPointer());
}
// Copy the modified contents of the unmanaged representation
// of test_struct back to the members of the managed test_struct.
calibration = (DS4Calibration)(Marshal.PtrToStructure(calibrationPtr, typeof(DS4Calibration)));
// Free the unmanaged representation of test_struct.
Marshal.FreeHGlobal(calibrationPtr);
DS4Calibration.DSCalibIntrinsicsRectified calibRectDepth = calibration.calib_rect_lr;
DS4Calibration.DSCalibIntrinsicsRectified calibRectColor = calibration.calib_rect_color;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = new float[] { calibRectColor.rfx, calibRectColor.rfy },
DepthFocalLength = new float[] { calibRectDepth.rfx, calibRectDepth.rfy },
ColorPrincipalPoint = new float[] { calibRectColor.rpx, calibRectColor.rpy },
DepthPrincipalPoint = new float[] { calibRectDepth.rpx, calibRectDepth.rpy },
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
//LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
(float)calibration.color_translation[0],
0.0f,
1.0f,
0.0f,
(float)calibration.color_translation[1],
0.0f,
0.0f,
1.0f,
(float)calibration.color_translation[2],
0.0f,
0.0f,
0.0f,
1.0f }
},
API = "DSAPI"
};
return(record);
}
private static DS4CalibrationRecord Calibrate(DSAPIManaged dsAPI)
{
DS4Calibration calibration;
int iSize = Marshal.SizeOf(typeof(DS4Calibration));
// Allocate memory (in the Global Heap) for the unmanaged
// representation of a TestStruct struct.
IntPtr calibrationPtr = Marshal.AllocHGlobal(iSize);
// Call the IntPtr version API.
unsafe
{
dsAPI.loadCalibartionInfo(calibrationPtr.ToPointer());
}
// Copy the modified contents of the unmanaged representation
// of test_struct back to the members of the managed test_struct.
calibration = (DS4Calibration)(Marshal.PtrToStructure(calibrationPtr, typeof(DS4Calibration)));
// Free the unmanaged representation of test_struct.
Marshal.FreeHGlobal(calibrationPtr);
DS4Calibration.DSCalibIntrinsicsRectified calibRectDepth = calibration.calib_rect_lr;
DS4Calibration.DSCalibIntrinsicsRectified calibRectColor = calibration.calib_rect_color;
DS4CalibrationRecord record = new DS4CalibrationRecord
{
DeviceCapture = new DS4CalibrationRecordInternal
{
ColorFocalLength = new float[] { calibRectColor.rfx, calibRectColor.rfy },
DepthFocalLength = new float[] { calibRectDepth.rfx, calibRectDepth.rfy },
ColorPrincipalPoint = new float[] { calibRectColor.rpx, calibRectColor.rpy },
DepthPrincipalPoint = new float[] { calibRectDepth.rpx, calibRectDepth.rpy },
ColorWidth = Frame.COLOR_WIDTH,
ColorHeight = Frame.COLOR_HEIGHT,
DepthWidth = Frame.DEPTH_WIDTH,
DepthHeight = Frame.DEPTH_HEIGHT,
DepthStride = Frame.DEPTH_STRIDE,
//LowConfValue = device.QueryDepthLowConfidenceValue(),
Extrinsics = new float[] { 1.0f,
0.0f,
0.0f,
(float)calibration.color_translation[0],
0.0f,
1.0f,
0.0f,
(float)calibration.color_translation[1],
0.0f,
0.0f,
1.0f,
(float)calibration.color_translation[2],
0.0f,
0.0f,
0.0f,
1.0f}
},
API = "DSAPI"
};
return record;
}
