Native 如何获取灰度Camera内外参

DavidChen

示例代码（提取码：dcf0）：

Demo


主要代码：

1. static std::string configstring = "";
   
2. command(Command_ID::GetCameraConfig, "", configstring);

复制代码

得到的configstring就是灰度Camera的参数，包括Camera和IMU之间的外参，也就是Camera和Head的外参。

DavidChen

获取的参数内容类似于：

1. cam0:
   
2.   T_cam_imu:
   
3.     [0.999986352841384, 0.0032862846423558872, -0.004061337739789638, 0.03756164273666725,
   
4.      -0.0032980946978333563, 0.9999903427305618, -0.0029046543646602946, 0.004490454545332502,
   
5.      0.00405175299732687, 0.0029180094008471663, 0.9999875341816945, -0.002294968432285464,
   
6.      0.0, 0.0, 0.0, 1.0]
   
7.   cam_overlaps: [1]
   
8.   camera_model: pinhole
   
9.   distortion_coeffs: [0.8983103161820014]
   
10.   distortion_model: fov
    
11.   intrinsics: [224.39191158040566, 223.9763931369736, 316.04781156614393, 233.3496452981823]
    
12.   resolution: [640, 480]
    
13.   rostopic: /cam0/image_raw
    
14.   timeshift_cam_imu: -0.0008752465911837162
    
15. cam1:
    
16.   T_cam_imu:
    
17.     [0.999960529813134, 0.006935971257295801, -0.005552577649574544, -0.04240098641905449,
    
18.      -0.006952871958479482, 0.9999712371263417, -0.0030302626194672055, 0.004914311542102539,
    
19.      0.005531400127054448, 0.0030687493758723688, 0.9999799929948112, -0.0023933299306618297,
    
20.      0.0, 0.0, 0.0, 1.0]
    
21.   T_cn_cnm1:
    
22.     [0.9999922276621546, 0.003654068072238162, -0.0014806761289387076, -0.07998214374550276,
    
23.      -0.003654280032229186, 0.9999933132303556, -0.0001404706940503373, 0.00056082540862699,
    
24.      0.0014801529385203055, 0.00014588040747682532, 0.9999988939324779, -0.0001546160819775631,
    
25.      0.0, 0.0, 0.0, 1.0]
    
26.   cam_overlaps: [0]
    
27.   camera_model: pinhole
    
28.   distortion_coeffs: [0.8981703346522282]
    
29.   distortion_model: fov
    
30.   intrinsics: [225.0871335206162, 224.56943129796193, 317.00710117818915, 234.45500342491806]
    
31.   resolution: [640, 480]
    
32.   rostopic: /cam1/image_raw
    
33.   timeshift_cam_imu: -0.0009144123865168765

复制代码

覃总

请问有Unity相关的例子吗？

DavidChen

覃总 发表于 2023-10-17 09:51
请问有Unity相关的例子吗？

我们的UnitySDK中是包含此功能的，可以直接调用

覃总

DavidChen 发表于 2023-10-17 09:52
我们的UnitySDK中是包含此功能的，可以直接调用

Unity SDK在哪里下载？

DavidChen

覃总 发表于 2023-10-17 09:53
Unity SDK在哪里下载？

可以查看此视频教程

Mr.wang

关于 Demo 中的NativeAPI说明参见文档