Example #1
0
    private void UpdateInitPose(Camera cam)
    {
        // Get the VisionLib transformation from the Unity camera
        VLUnityCameraHelper.CameraToVLPose(
            cam, this.rotCamera, out this.t, out this.q);

        // Convert the transformation into JSON
        this.initPose.Set(t, q);
        this.initPoseString = VLJsonUtility.ToJson(this.initPose,
                                                   this.prettyPrint);
    }
Example #2
0
    /// <summary>
    ///  Returns the current transformation of the Camera component in
    ///  VisionLib coordinates as JSON string.
    /// </summary>
    /// <returns>
    ///  JSON string with initial pose in VisionLib coordinates.
    /// </returns>
    public string GetInitPoseJson()
    {
        if (!this.InitWorkerReference())
        {
            return("");
        }

        // Get the VisionLib transformation from the camera component
        Vector4    t;
        Quaternion q;

        VLUnityCameraHelper.CameraToVLPose(
            this.cam, this.rotCamera, out t, out q,
            this.workerBehaviour.flipCoordinateSystemHandedness);

        // Convert the transformation into JSON
        InitPose param = new InitPose(t.x, t.y, t.z, q.x, q.y, q.z, q.w);

        return(VLJsonUtility.ToJson(param, this.prettyPrint));
    }