// Update is called once per frame
void Update()
{
if (ContinuousTracking && RosGazeManager.Instance.Focused)
{
ros.geometry_msgs.PoseStamped msg = new ros.geometry_msgs.PoseStamped();
msg.header.frame_id = "/Unity";
Quaternion camRot = Camera.main.transform.rotation * Quaternion.Euler(0, -90, 0);
Quaternion pointRot = Quaternion.Euler(0, camRot.eulerAngles.y, 0);
msg.pose.position = new ros.geometry_msgs.Point(RosGazeManager.Instance.position);
msg.pose.orientation = new ros.geometry_msgs.Quaternion(pointRot);
Publish(trackingPub, msg);
if (arrow == null)
{
arrow = Instantiate(DirectionArrowPrefab, msg.pose.position.AsUnityVector, msg.pose.orientation.AsUnityQuaternion);
}
else
{
arrow.transform.position = msg.pose.position.AsUnityVector;
arrow.transform.rotation = msg.pose.orientation.AsUnityQuaternion;
}
}
else if (!ContinuousTracking && (arrow != null))
{
Destroy(arrow);
}
}
// Update is called once per frame
void Update()
{
ros.geometry_msgs.PoseStamped headPose = new ros.geometry_msgs.PoseStamped
{
pose = new ros.geometry_msgs.Pose(transform.position, transform.rotation)
};
headPose.header.frame_id = "/hololens";
Publish(headPosePub, headPose);
}
// Update is called once per frame
void Update()
{
if (stop)
{
stop = false;
ros.geometry_msgs.PoseStamped msg = new ros.geometry_msgs.PoseStamped();
msg.header.frame_id = "base_link";
Publish(pub, msg);
}
}
// Update is called once per frame
void Update()
{
if (RosGazeManager.Instance.Focused)
{
ros.geometry_msgs.PointStamped fp = new ros.geometry_msgs.PointStamped();
fp.header.frame_id = "/Unity";
fp.point = new ros.geometry_msgs.Point(RosGazeManager.Instance.position);
Publish(FocusedPointPub, fp);
}
ros.geometry_msgs.PoseStamped hp = new ros.geometry_msgs.PoseStamped();
hp.header.frame_id = "/Unity";
hp.pose = new ros.geometry_msgs.Pose(new ros.geometry_msgs.Point(Camera.main.transform.position),
new ros.geometry_msgs.Quaternion(Camera.main.transform.rotation * Quaternion.Euler(0, -90, 0)));
Publish(HeadPosePub, hp);
}
// Update is called once per frame
void Update()
{
if (RosGazeManager.Instance.Focused)
{
ros.geometry_msgs.PointStamped fp = new ros.geometry_msgs.PointStamped();
fp.header.frame_id = "/Unity";
fp.point = new ros.geometry_msgs.Point(RosGazeManager.Instance.position);
Publish(FocusedPointPub, fp);
}
ros.geometry_msgs.PoseStamped hp = new ros.geometry_msgs.PoseStamped();
hp.header.frame_id = "/Unity";
Quaternion headRot = Camera.main.transform.rotation;
// Shifting head rotation because it was rotated in unity
headRot *= Quaternion.Euler(0, -90, 0);
hp.pose = new ros.geometry_msgs.Pose(new ros.geometry_msgs.Point(Camera.main.transform.position),
new ros.geometry_msgs.Quaternion(headRot));
Publish(HeadPosePub, hp);
}
