static void OnLocalizationPoseReceivedCallback(int TrackerID, string ObjectID, float tx, float ty, float tz, float qx, float qy, float qz, float qw)
{
EskyPoseCallbackData epcd = new EskyPoseCallbackData();
(Vector3, Quaternion)vq = instances[TrackerID].IntelPoseToUnity(tx, ty, tz, qx, qy, qz, qw);
epcd.PoseID = ObjectID;
epcd.position = vq.Item1;
epcd.rotation = vq.Item2;
((EskyTrackerIntel)instances[TrackerID]).AddPoseFromCallback(epcd);
UnityEngine.Debug.Log("Received a pose from the relocalization");
}
// Update is called once per frame
void Update()
{
ObtainPose();
if (myOffsets.AllowsSaving)
{
if (Input.GetKeyDown(KeyCode.S))
{
SaveCalibration();
}
}
if (UpdateLocalizationCallback)
{
UpdateLocalizationCallback = false;
ObtainObjectPoses();
if (instances[TrackerID].ReLocalizationCallback != null)
{
instances[TrackerID].ReLocalizationCallback.Invoke();
}
}
if (ShouldCallBackMap)
{
if (subscribedAnchor != null) // we only return the first instance when saving map info for now, in theory we only subscribe one anchor to one tracker;
{
(Dictionary <string, EskyAnchorContentInfo>, byte[])returnvals = subscribedAnchor.GetEskyMapInfo();
retEskyMap.contentLocations = returnvals.Item1;
retEskyMap.meshDataArray = returnvals.Item2;
}
if (instances[TrackerID].mapCollectedCallback != null)
{
instances[TrackerID].mapCollectedCallback.Invoke(retEskyMap);
}
ShouldCallBackMap = false;
}
if (callbackEvents != null)
{
if (subscribedAnchor != null)
{
subscribedAnchor.transform.position = callbackEvents.position;
subscribedAnchor.transform.rotation = callbackEvents.rotation;
}
callbackEvents = null;
}
AfterUpdate();
}
public void AddPoseFromCallback(EskyPoseCallbackData epcd)
{
callbackEvents = epcd;
}
