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Version: 21 Aug 2024

MLWorldCameraStructs.cs

Source code

// %BANNER_BEGIN%
// ---------------------------------------------------------------------
// %COPYRIGHT_BEGIN%
// <copyright file="MLWorldCameraStructs.cs" company="Magic Leap, Inc">
//
// Copyright (c) 2018-present, Magic Leap, Inc. All Rights Reserved.
//
// </copyright>
// %COPYRIGHT_END%
// ---------------------------------------------------------------------
// %BANNER_END%

namespace UnityEngine.XR.MagicLeap
{
using System;
using System.Text;
using Native;
public partial class MLWorldCamera
{
[Serializable]
public struct Settings
{
public Settings(Mode mode, CameraId cameras)
{
this.mode = mode;
this.cameras = cameras;
}

public Mode Mode => mode;

public CameraId Cameras => cameras;

[SerializeField]
private Mode mode;

[SerializeField]
private CameraId cameras;

public override string ToString() => $"Mode: {mode}, Cameras: {cameras}";
}

public readonly struct Frame
{
public enum Type
{
Unkown,

LowExposure,

NormalExposure,
};

internal Frame(NativeBindings.MLWorldCameraFrame nativeFrame)
{
CameraId = nativeFrame.Id;
CameraPose = new Pose(MLConvert.ToUnity(nativeFrame.CameraPose.Position), MLConvert.ToUnity(nativeFrame.CameraPose.Rotation));
CameraIntrinsics = new CameraIntrinsics(nativeFrame.Intrinsics);
FrameNumber = nativeFrame.FrameNumber;
FrameType = nativeFrame.FrameType;
FrameBuffer = new Buffer(nativeFrame.FrameBuffer);
MLTime.ConvertSystemTimeToMLTime(nativeFrame.TimeStamp, out TimeStamp);
}

public readonly CameraId CameraId;

public readonly Pose CameraPose;

public readonly CameraIntrinsics CameraIntrinsics;

public readonly long FrameNumber;

public readonly Type FrameType;

public readonly Buffer FrameBuffer;

public readonly MLTime TimeStamp;

public override string ToString() => $"Id: {CameraId}, Pose: {CameraPose}, Intrinsics: {CameraIntrinsics}, FrameBufferInfo: {FrameBuffer}, TimeStamp: {TimeStamp}";

public readonly struct Buffer
{
internal Buffer(NativeBindings.MLWorldCameraFrameBuffer nativeFrameBuffer)
{
Width = nativeFrameBuffer.Width;
Height = nativeFrameBuffer.Height;
Stride = nativeFrameBuffer.Stride;
BytesPerPixel = nativeFrameBuffer.BytesPerPixel;
Data = nativeFrameBuffer.Data;
DataSize = (int)nativeFrameBuffer.Size;
}

public readonly uint Width;

public readonly uint Height;

public readonly uint Stride;

public readonly uint BytesPerPixel;

public readonly int DataSize;

public readonly IntPtr Data;

public override string ToString() => $"Width: {Width}, Height: {Height}, Stride: {Stride}, BytesPerPixel: {BytesPerPixel}, Size: {DataSize}";
};
}

public readonly struct CameraIntrinsics
{
internal CameraIntrinsics(in NativeBindings.MLWorldCameraIntrinsics nativeIntrinsics)
{
Width = nativeIntrinsics.Width;
Height = nativeIntrinsics.Height;
FocalLength = nativeIntrinsics.FocalLength;
PrincipalPoint = nativeIntrinsics.PrincipalPoint;
Fov = nativeIntrinsics.Fov;
RadialDistortion = nativeIntrinsics.RadialDistortion;
TangentialDistortion = nativeIntrinsics.TangentialDistortion;
}

public readonly uint Width;

public readonly uint Height;

public readonly Vector2 FocalLength;

public readonly Vector2 PrincipalPoint;

public readonly float Fov;

public readonly double[] RadialDistortion;

public readonly double[] TangentialDistortion;

public override string ToString() => $"Width:{Width}, Height:{Height}, FocalLength: {FocalLength}, PrincipalPoint: {PrincipalPoint} , FOV: {Fov}, RadialDistortion: {GetArrayAsString(RadialDistortion)}, TangentialDistortion: {GetArrayAsString(TangentialDistortion)}";

private string GetArrayAsString(double[] distortions)
{
StringBuilder sb = new StringBuilder("[");
for (int i = 0; i < distortions.Length; ++i)
{
var value = distortions[i];
sb.Append($"{value}");
if (i < distortions.Length - 1)
sb.Append(", ");
}

sb.Append("]");

return sb.ToString();
}
}
}
}