public static void GetDisplayPoses(float[] posLeft, float[] rotLeft, float[] posRight, float[] rotRight) { try{ DSHUnityAbstraction.L7_GetDisplayPoses(posLeft, rotLeft, posRight, rotRight); return; } catch (DllNotFoundException e) { Debug.LogWarning("Get Display Poses failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Get Display Poses failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } posLeft[0] = -0.01876234f; posLeft[1] = -0.06813736f; posLeft[2] = -0.04304444f; rotLeft[0] = 0.005479251f; rotLeft[1] = 0.01076406f; rotLeft[2] = 0.01019455f; rotLeft[3] = -0.9998751f; posRight[0] = 0.0447242f; posRight[1] = -0.06902217f; posRight[2] = -0.04305821f; rotRight[0] = 0.00835955f; rotRight[1] = 0.002099279f; rotRight[2] = 0.01005393f; rotRight[3] = -0.9999123f; }
public static bool GetIMUAcceleration(float[] accel) { bool status = DSHUnityAbstraction.L7_IMUGetAcceleration(accel); if (!status) { Debug.Log("Issues in grabbing Acceleration data from IMU"); } return(status); }
public static bool GetIMUGyro(float[] gyro) { bool status = DSHUnityAbstraction.L7_IMUGetGyro(gyro); if (!status) { Debug.Log("Issues in grabbing Gyro data from IMU"); } return(status); }
public static bool GetIMUQuaternion(float[] quat) { bool status = DSHUnityAbstraction.L7_IMUGetRotation(quat); if (!status) { Debug.Log("Issues in grabbing Rotation data from IMU"); } return(status); }
private static bool getCameraParameter(HCAMERA_TYPE cam_type, out int width, out int height) { width = DEFAULT_VALUE; height = DEFAULT_VALUE; bool okParams = false; bool result = false; try{ switch (cam_type) { case HCAMERA_TYPE.COLOR_CAMERA: case HCAMERA_TYPE.IR_CAMERA: case HCAMERA_TYPE.Z_CAMERA: okParams = DSHUnityAbstraction.L7_CameraGetParams(cameraWidth, cameraHeight); break; case HCAMERA_TYPE.LWIR_CAMERA: okParams = DSHUnityAbstraction.L7_ThermalGetParams(cameraWidth, cameraHeight); break; } if (okParams) { if (cameraWidth[0] != DEFAULT_VALUE && cameraHeight[0] != DEFAULT_VALUE) { width = cameraWidth[0]; height = cameraHeight[0]; result = true; } else { Debug.LogError("Get Camera parameter for" + ((HCAMERA_TYPE)cam_type) + "returned invalid data"); result = false; } } else { Debug.LogError("Get Camera parameter for" + ((HCAMERA_TYPE)cam_type) + "failed"); result = false; } } catch (DllNotFoundException e) { Debug.LogWarning("Couldn't get camera parameter, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Couldn't get camera parameter, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } return(result); }
public static void GetDisplayProjectionMatrices(float near, float far, float[] matrixLeft, float[] matrixRight) { try{ DSHUnityAbstraction.L7_GetDisplayProjectionMatrices(near, far, matrixLeft, matrixRight); return; } catch (DllNotFoundException e) { Debug.LogWarning("Get Display Projection Matrices failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Get Display PRojection Matrices failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } matrixLeft[0] = 3.189697f; matrixLeft[1] = 0; matrixLeft[2] = 0; matrixLeft[3] = 0; matrixLeft[4] = 0; matrixLeft[5] = 5.671282f; matrixLeft[6] = 0; matrixLeft[7] = 0; matrixLeft[8] = 0; matrixLeft[9] = 0; matrixLeft[10] = -1.00004f; matrixLeft[11] = -1; matrixLeft[12] = 0; matrixLeft[13] = 0; matrixLeft[14] = -0.04000008f; matrixLeft[15] = 0; matrixRight[0] = 3.189697f; matrixRight[1] = 0; matrixRight[2] = 0; matrixRight[3] = 0; matrixRight[4] = 0; matrixRight[5] = 5.671282f; matrixRight[6] = 0; matrixRight[7] = 0; matrixRight[8] = 0; matrixRight[9] = 0; matrixRight[10] = -1.00004f; matrixRight[11] = -1; matrixRight[12] = 0; matrixRight[13] = 0; matrixRight[14] = -0.04000008f; matrixRight[15] = 0; }
public static bool GetVIOData(ref VIOData vioData) { bool status = DSHUnityAbstraction.L7_PositionMonitorUpdate(0.03f); if (status) { DSHUnityAbstraction.L7_PositionMonitorGetPosition(pos); DSHUnityAbstraction.L7_PositionMonitorGetRotation(rot); vioData.SetNativeData(pos, rot); } else { Debug.Log("Issues in grabbing data from IMU"); } return(status); }
public static bool StopThermal() { bool status = false; try{ status = DSHUnityAbstraction.L7_ThermalStop(); } catch (DllNotFoundException e) { Debug.LogWarning("Thermal stop failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Thermal stop failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } return(status); }
public static void CameraGetPose(float[] pos, float[] rot) { try{ DSHUnityAbstraction.L7_CameraGetPose(pos, rot); return; } catch (DllNotFoundException e) { Debug.LogWarning("Get Camera Pose failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Camera Get Pose failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } pos [0] = 0.04725968f; pos [1] = -0.02074674f; pos [2] = -0.004146449f; rot [0] = -0.0001961226f; rot [1] = 0.003372774f; rot [2] = 0.01508114f; rot [3] = -0.9998806f; }
public static void StopCamera() { bool status = false; try{ status = DSHUnityAbstraction.L7_CameraStop(); } catch (DllNotFoundException e) { Debug.LogWarning("Stop Camera failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; return; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Stop Camera failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; return; } if (!status) { Debug.LogWarning("Realsense camera didnt stop properly"); } }
public static bool StartCamera() { int video_camera_preset = (int)COLOR_CAMERA_PRESET.RGB_1080p; bool ok = false; try { ok = DSHUnityAbstraction.L7_CameraStart(video_camera_preset); } catch (DllNotFoundException e) { Debug.LogWarning("Start Camera failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; return(ok); } catch (EntryPointNotFoundException e) { Debug.LogWarning("Start Camera failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } if (!ok) { Debug.LogWarning("Unity abstractions not started correctly, Realsense camera feeds may not work"); } return(ok); }
public static void ThermalGetPose(float[] pos, float[] rot) { try{ DSHUnityAbstraction.L7_ThermalGetPose(pos, rot); return; } catch (DllNotFoundException e) { Debug.LogWarning("Get Thermal Pose failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; } catch (EntryPointNotFoundException e) { Debug.LogWarning("Thermal Get Pose failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; } // use default thermal pos [0] = 0.01373458f; pos [1] = -0.002731353f; pos [2] = -0.003632645f; rot [0] = -0.0001961226f; rot [1] = 0.003372774f; rot [2] = 0.01508114f; rot [3] = -0.9998806f; }
public static bool GetThermalData([In, Out] Color32[] colors32) { bool ok = false; if (LWIR_CAMERA_WIDTH == DEFAULT_VALUE || LWIR_CAMERA_HEIGHT == DEFAULT_VALUE) { ok = GetThermalCamParams(out LWIR_CAMERA_WIDTH, out LWIR_CAMERA_HEIGHT); if (!ok) { Debug.LogWarning("Could not get the thermal parameter"); return(false); } else { thermalData = new CameraData(LWIR_CAMERA_WIDTH, LWIR_CAMERA_WIDTH, 3); } } ok = DSHUnityAbstraction.L7_ThermalGetData(thermalData.Address, cameraWidth, cameraHeight); if (ok == true) { int x = 0; for (int i = 0; i < LWIR_CAMERA_HEIGHT; ++i) { for (int j = 0; j < LWIR_CAMERA_WIDTH; ++j) { int index = i * LWIR_CAMERA_WIDTH + j; colors32[index].r = thermalData.data[x++]; colors32[index].g = thermalData.data[x++]; colors32[index].b = thermalData.data[x++]; colors32[index].a = 255; } } } return(ok); }
public static bool GetColorCamData([In, Out] Color32[] colors32) { bool ok = false; if (CAMERA_WIDTH == DEFAULT_VALUE || CAMERA_HEIGHT == DEFAULT_VALUE) { ok = GetColorCamParams(out CAMERA_WIDTH, out CAMERA_HEIGHT); if (!ok) { Debug.LogWarning("Could not get the camera parameter"); return(false); } else { colorData = new CameraData(CAMERA_WIDTH, CAMERA_HEIGHT, 3); } } ok = DSHUnityAbstraction.L7_CameraGetData(colorData.Address); if (ok == true) { int x = 0; for (int i = 0; i < CAMERA_HEIGHT; ++i) { for (int j = 0; j < CAMERA_WIDTH; ++j) { int index = i * CAMERA_WIDTH + j; colors32 [index].r = colorData.data [x++]; colors32 [index].g = colorData.data [x++]; colors32 [index].b = colorData.data [x++]; colors32 [index].a = 255; } } } return(ok); }
public static bool Initialize() { bool ok = false; try { ok = DSHUnityAbstraction.L7_Initialize(); } catch (DllNotFoundException e) { Debug.LogWarning("Initialize failed, Please install the correct libraries, its not recommanded to use the Extension without proper libraries installed " + e); bCorrectDLLloaded = false; return(ok); } catch (EntryPointNotFoundException e) { Debug.LogWarning("Initialize failed, signature missing in the library, please update the library" + e); bCorrectDLLloaded = false; return(ok); } if (!ok) { Debug.LogWarning("Initalize returned false, most likely because plugin is already initialized"); } return(ok); }