ml_cv_camera.h

Enums

	Name
enum	MLCVCameraID { MLCVCameraID_ColorCamera = 0, MLCVCameraID_Ensure32Bits = 0x7FFFFFFF } Camera id enum.

Functions

	Name
MLResult	MLCVCameraTrackingCreate(MLHandle * out_handle) Create CV Camera Tracker.
MLResult	MLCVCameraGetFramePose(MLHandle camera_handle, MLHandle head_handle, MLCVCameraID id, MLTime camera_timestamp, MLTransform * out_transform) Get the camera pose in the world coordinate system.
MLResult	MLCVCameraTrackingDestroy(MLHandle camera_handle) Destroy Tracker after usage.

Enums Documentation

MLCVCameraID

Enumerator	Value	Description
MLCVCameraID_ColorCamera	0	Default camera id.
MLCVCameraID_Ensure32Bits	0x7FFFFFFF	Camera id.

Camera id enum.

API Level:

• 5

---

Functions Documentation

MLCVCameraTrackingCreate

MLResult MLCVCameraTrackingCreate(
    MLHandle * out_handle
)

Create CV Camera Tracker.

Parameters

MLHandle *	out_handle	Tracker handle.

Returns

MLResult	MLResult_Ok	On success.
MLResult	MLResult_PerceptionSystemNotStarted	Perception System has not been started.
MLResult	MLResult_PermissionDenied	Necessary permission is missing.

Required Permissions:

• android.permission.CAMERA (protection level: dangerous)

API Level:

• 5

---

MLCVCameraGetFramePose

MLResult MLCVCameraGetFramePose(
    MLHandle camera_handle,
    MLHandle head_handle,
    MLCVCameraID id,
    MLTime camera_timestamp,
    MLTransform * out_transform
)

Get the camera pose in the world coordinate system.

Parameters

MLHandle	camera_handle	MLHandle previously created with MLCVCameraTrackingCreate.
MLHandle	head_handle	MLHandle previously created with MLHeadTrackingCreate.
MLCVCameraID	id	Camera id.
MLTime	camera_timestamp	Time to request the pose.
MLTransform *	out_transform	Transform from camera to world origin.

Returns

MLResult	MLResult_InvalidParam	id parameter was not valid or out_transform parameter was not valid (null).
MLResult	MLResult_Ok	Obtained transform successfully.
MLResult	MLResult_PerceptionSystemNotStarted	Perception System has not been started.
MLResult	MLResult_PoseNotFound	Pose is currently not available.
MLResult	MLResult_UnspecifiedFailure	Failed to obtain transform due to internal error.

Required Permissions:

• None

Use the timestamp provided from the #on_video_buffer_available callback from ml_camera_v2.h. The camera tracker only caches a limited set of poses. Retrieve the camera pose as soon as the timestamp is available else the API may return MLResult_PoseNotFound.

API Level:

• 5

---

MLCVCameraTrackingDestroy

MLResult MLCVCameraTrackingDestroy(
    MLHandle camera_handle
)

Destroy Tracker after usage.

Parameters

MLHandle	camera_handle	MLHandle previously created with MLCVCameraTrackingCreate.

Returns

MLResult	MLResult_Ok	On success.
MLResult	MLResult_PerceptionSystemNotStarted	Perception System has not been started.

Required Permissions:

• None

API Level:

• 5

---

Source code

// %BANNER_BEGIN%
// ---------------------------------------------------------------------
// %COPYRIGHT_BEGIN%
// Copyright (c) 2017 Magic Leap, Inc. All Rights Reserved.
// Use of this file is governed by the Software License Agreement,
// located here: https://www.magicleap.com/software-license-agreement-ml2
// Terms and conditions applicable to third-party materials accompanying
// this distribution may also be found in the top-level NOTICE file
// appearing herein.
// %COPYRIGHT_END%
// ---------------------------------------------------------------------
// %BANNER_END%

#pragma once

#include "ml_api.h"
#include "ml_types.h"

ML_EXTERN_C_BEGIN

typedef enum MLCVCameraID {
  MLCVCameraID_ColorCamera = 0,
  MLCVCameraID_Ensure32Bits = 0x7FFFFFFF
} MLCVCameraID;

ML_API MLResult ML_CALL MLCVCameraTrackingCreate(MLHandle *out_handle);

ML_API MLResult ML_CALL MLCVCameraGetFramePose(MLHandle camera_handle, MLHandle head_handle, MLCVCameraID id, MLTime camera_timestamp, MLTransform *out_transform);

ML_API MLResult ML_CALL MLCVCameraTrackingDestroy(MLHandle camera_handle);

ML_EXTERN_C_END