add get calib param function

Source/Private/ZEDCamera.cpp

@@ -36,6 +36,20 @@ bool ZEDCamera::ImportMethod_CreateCamera() {
 	return false;// Return an error.
 }
 
+bool ZEDCamera::ImportMethod_GetCalibParams() {
+	if (v_dllHandle != NULL)
+	{
+		m_funcGetCalibParams = NULL;
+		FString procName = "sl_get_calibration_parameters";// Needs to be the exact name of the DLL method.
+		m_funcGetCalibParams = (__CalibParams)FPlatformProcess::GetDllExport(v_dllHandle, *procName);
+		if (m_funcGetCalibParams != NULL)
+		{
+			return true;
+		}
+	}
+	return false;// Return an error.
+}
+
 bool ZEDCamera::ImportMethod_Open()
 {
 	if (v_dllHandle != NULL)
@@ -193,6 +207,7 @@ bool ZEDCamera::LoadDll(FString DLLName)
 		{
 			ImportMethod_CreateCamera();
 			ImportMethod_Open();
+			ImportMethod_GetCalibParams();
 			ImportMethod_Close();
 			ImportMethod_GetSerialNumber();
 			ImportMethod_Grab();
@@ -237,6 +252,15 @@ sl::ERROR_CODE ZEDCamera::Open(SL_InitParameters& initParameters, const char* pa
 	return e;
 }
 
+SL_CalibrationParameters* ZEDCamera::GetCalibrationParameters(bool raw_params) {
+	if (m_funcGetCalibParams == NULL)
+	{
+		return new SL_CalibrationParameters();
+	}
+	SL_CalibrationParameters* e = (SL_CalibrationParameters*)m_funcGetCalibParams(camera_id, raw_params);
+	return e;
+}
+
 void ZEDCamera::Close() {
 	if (m_funcClose == NULL)
 	{

Source/Public/ZEDCamera.h

@@ -16,7 +16,7 @@
 
 typedef int(*__ObjectData)(int id, SL_ObjectDetectionRuntimeParameters& od_params, SL_Objects& objs);
 typedef int(*__Open)(int id, SL_InitParameters& initParameters, const char* pathSVO, const char* ip, int streamPort, const char* outputFile,
-	const char* opt_settings_path, const char* opencv_calib_path);
+const char* opt_settings_path, const char* opencv_calib_path);
 typedef void(*__Close)(int id);
 typedef int(*__EnableTracking)(int id, SL_PositionalTrackingParameters tracking_param, const char* areaDBpath);
 typedef void(*__DisableTracking)(int id, const char* path);
@@ -27,6 +27,7 @@ typedef int(*__GetPosition)(int id, PoseData& poseData, sl::REFERENCE_FRAME refe
 typedef bool(*__CreateCamera)(int id, bool verbose);
 typedef int(*__SN)(int sn);
 typedef int(*__Grab)(int id, SL_RuntimeParameters& rt_params);
+typedef SL_CalibrationParameters*(*__CalibParams)(int id, bool raw_params);
 
 
 class ZEDCamera {
@@ -46,6 +47,7 @@ class ZEDCamera {
 	sl::POSITIONAL_TRACKING_STATE GetPosition(PoseData& poseData, sl::REFERENCE_FRAME reference_frame);
 	int GetSerialNumber();
 	sl::ERROR_CODE RetrieveObjects(SL_ObjectDetectionRuntimeParameters& od_params, SL_Objects& objs);
+	SL_CalibrationParameters* GetCalibrationParameters(bool raw_params = false);
 
 private:
 	void *v_dllHandle;
@@ -60,6 +62,7 @@ class ZEDCamera {
 	__ObjectData m_funcRetrieveOD;
 	__Grab m_funcGrab;
 	__SN m_funcGetSN;
+	__CalibParams m_funcGetCalibParams;
 
 	int camera_id;
 
@@ -74,6 +77,7 @@ class ZEDCamera {
 	bool ImportMethod_GetPosition();
 	bool ImportMethod_GetSerialNumber();
 	bool ImportMethod_RetrieveObjects();
+	bool ImportMethod_GetCalibParams();
 
 	bool LoadDll(FString DLLName);
 	void UnloadDll();

Source/Public/ZEDStructs.h

@@ -5,6 +5,49 @@
 
 #define MAX_NUMBER_OBJECT 75
 
+
+struct SL_Quaternion {
+	float x;
+	float y;
+	float z;
+	float w;
+
+	SL_Quaternion() {
+		x = 0;
+		y = 0;
+		z = 0;
+		w = 1;
+	}
+};
+
+struct SL_Vector2
+{
+	float x;
+	float y;
+};
+
+struct SL_Vector3
+{
+	float x;
+	float y;
+	float z;
+
+	SL_Vector3() {
+		x = 0;
+		y = 0;
+		z = 0;
+	}
+};
+
+struct SL_Vector4
+{
+	float x;
+	float y;
+	float z;
+	float w;
+};
+
+
 struct SL_InitParameters
 {
 	sl::INPUT_TYPE input_type;
@@ -55,6 +98,49 @@ struct SL_InitParameters
 	}
 };
 
+/**
+* \brief Resolution
+*/
+struct SL_Resolution {
+	long long width;
+	long long height;
+};
+
+struct SL_CameraParameters {
+	float fx; /**< Focal length in pixels along x axis. */
+	float fy; /**< Focal length in pixels along y axis. */
+	float cx; /**< Optical center along x axis, defined in pixels (usually close to width/2). */
+	float cy; /**< Optical center along y axis, defined in pixels (usually close to height/2). */
+	double disto[5]; /**< Distortion factor : [ k1, k2, p1, p2, k3 ]. Radial (k1,k2,k3) and Tangential (p1,p2) distortion.*/
+	float v_fov; /**< Vertical field of view, in degrees. */
+	float h_fov; /**< Horizontal field of view, in degrees.*/
+	float d_fov; /**< Diagonal field of view, in degrees.*/
+	SL_Resolution image_size; /** size in pixels of the images given by the camera.*/
+};
+
+/**
+Holds calibration information about the current ZED's hardware, including per-sensor calibration and offsets between the two sensors.
+*/
+struct SL_CalibrationParameters
+{
+	/**
+	Intrinsic parameters of the left camera
+	*/
+	struct SL_CameraParameters left_cam;
+	/**
+	Intrinsic parameters of the right camera
+	*/
+	struct SL_CameraParameters right_cam;
+	/**
+	Left to Right camera rotation, expressed in user coordinate system and unit (defined by InitParameters).
+	*/
+	SL_Vector4 rotation;
+	/**
+	Left to Right camera translation, expressed in user coordinate system and unit (defined by InitParameters).
+	*/
+	SL_Vector3 translation;
+};
+
 /*
 Parameters that define the behavior of the grab.
 */
@@ -116,47 +202,6 @@ struct SL_ObjectDetectionRuntimeParameters
 
 };
 
-struct SL_Quaternion {
-	float x;
-	float y;
-	float z;
-	float w;
-
-	SL_Quaternion() {
-		x = 0;
-		y = 0;
-		z = 0;
-		w = 1;
-	}
-};
-
-struct SL_Vector2
-{
-	float x;
-	float y;
-};
-
-struct SL_Vector3
-{
-	float x;
-	float y;
-	float z;
-
-	SL_Vector3() {
-		x = 0;
-		y = 0;
-		z = 0;
-	}
-};
-
-struct SL_Vector4
-{
-	float x;
-	float y;
-	float z;
-	float w;
-};
-
 struct SL_Pose {
 	sl::float3 position;
 	sl::float4 rotation;