public bool applyExtrinsics(ExtrinsicsParameters extrinsics)
{
if (extrinsics == null)
{
return(false);
}
Matrix4x4?transRot = new Matrix4x4();
transRot = Utils.FloatArrayToMatrix4x4(extrinsics.matrix);
if (transRot == null)
{
return(false);
}
// Units convertion from militers (Natar) to meter (Unity)
Matrix4x4 scale = Matrix4x4.Scale(new Vector3(0.001f, 0.001f, 0.001f));
if (ReverseYAxis)
{
scale = Matrix4x4.Scale(new Vector3(0.001f, -0.001f, 0.001f));
}
;
transRot = scale * transRot;
transform.localPosition = Utils.ExtractTranslation((Matrix4x4)transRot);
transform.localRotation = Utils.ExtractRotation((Matrix4x4)transRot);
this.currentTR = (Matrix4x4)transRot;
return(true);
}
public void init()
{
if (LiveUpdate)
{
if (redisSubscriber != null)
{
redisSubscriber.Unsubscribe(Key, "unsub");
}
redisSubscriber = new Subscriber(redis);
redisSubscriber.Subscribe(OnExtrinsicsReceived, Key, "unsub");
this.state = ServiceStatus.WORKING;
}
else
{
eParameters = load();
if (applyExtrinsics(eParameters))
{
this.state = ServiceStatus.WORKING;
}
else
{
this.state = ServiceStatus.CONNECTED;
}
}
}
private void OnExtrinsicsReceived(string channelName, byte[] message)
{
if (channelName == "unsub")
{
redisSubscriber.Unsubscribe(Key, "unsub");
}
string extrinsics = Utils.ByteToString(message);
if (extrinsics == "")
{
return;
}
eParameters = Utils.JSONTo <ExtrinsicsParameters>(extrinsics);
extrinsicsNeedsUpdate = true;
//applyExtrinsics(parameters);
}