// Handle new pose update event
private void PoseDataReceived(HoloDataClient.HoloPose poseData)
{
Console.WriteLine("\n");
//Console.WriteLine("== HoloLens Data Update ==");
string display = "";
display += string.Format("\tpos ({0:N3}, {1:N3}, {2:N3})", poseData.camPos.X, poseData.camPos.Y, poseData.camPos.Z);
display += string.Format("\t\trot ({0:N3}, {1:N3}, {2:N3}, {2:N3})", poseData.camRot.W, poseData.camRot.X, poseData.camRot.Y, poseData.camRot.Z);
//Console.WriteLine(display);
NatNetClient.NatNetPoseData nnPoseData = natNetClient_.FetchFrameData();
// Assemble log line
string log = "";
log += string.Format("{0:F6},{1:F6},{2:F6},", poseData.camPos.X, poseData.camPos.Y, poseData.camPos.Z);
log += string.Format("{0:F8},{1:F8},{2:F8},{3:F8},", poseData.camRot.W, poseData.camRot.X, poseData.camRot.Y, poseData.camRot.Z);
log += string.Format("{0:F6},{1:F6},{2:F6},", nnPoseData.rbPos.X, nnPoseData.rbPos.Y, nnPoseData.rbPos.Z);
log += string.Format("{0:F8},{1:F8},{2:F8},{3:F8},", nnPoseData.rbRot.W, nnPoseData.rbRot.X, nnPoseData.rbRot.Y, nnPoseData.rbRot.Z);
// Add timestamp
string timestamp = Math.Round((System.DateTime.Now - logStartTime_).TotalMilliseconds).ToString();
log += string.Format("{0}", timestamp);
WriteToLog(log);
List <double> hldata = new List <double>()
{
poseData.kbPos.X, poseData.kbPos.Y, poseData.kbPos.Z, poseData.kbRot.W, poseData.kbRot.X, poseData.kbRot.Y, poseData.kbRot.Z, poseData.camPos.X, poseData.camPos.Y, poseData.camPos.Z, poseData.camRot.W, poseData.camRot.X, poseData.camRot.Y, poseData.camRot.Z
};
List <double> opdata = new List <double>()
{
nnPoseData.rbPos.X, nnPoseData.rbPos.Y, nnPoseData.rbPos.Z, nnPoseData.rbRot.W, nnPoseData.rbRot.X, nnPoseData.rbRot.Y, nnPoseData.rbRot.Z
};
HLdata.Add(hldata);
OPdata.Add(opdata);
}
// Handle new pose update event
private void PoseDataReceived(HoloDataClient.HoloPose poseData)
{
// Fetch nnPose to be approx synchronised with HL pose
NatNetClient.NatNetPoseData nnPoseData = natNetClient_.FetchFrameData();
// Check that log file name has been initialized
if (eventLogFile_ != "")
{
// Assemble log line
string log = "";
log += string.Format("{0:F6},{1:F6},{2:F6},", poseData.camPos.X, poseData.camPos.Y, poseData.camPos.Z);
log += string.Format("{0:F8},{1:F8},{2:F8},{3:F8},", poseData.camRot.W, poseData.camRot.X, poseData.camRot.Y, poseData.camRot.Z);
log += string.Format("{0:F6},{1:F6},{2:F6},", poseData.kbPos.X, poseData.kbPos.Y, poseData.kbPos.Z);
log += string.Format("{0:F8},{1:F8},{2:F8},{3:F8},", poseData.kbRot.W, poseData.kbRot.X, poseData.kbRot.Y, poseData.kbRot.Z);
log += string.Format("{0:F6},{1:F6},{2:F6},", nnPoseData.rbPos.X, nnPoseData.rbPos.Y, nnPoseData.rbPos.Z);
log += string.Format("{0:F8},{1:F8},{2:F8},{3:F8},", nnPoseData.rbRot.W, nnPoseData.rbRot.X, nnPoseData.rbRot.Y, nnPoseData.rbRot.Z);
// Add timestamp
string timestamp = Math.Round((System.DateTime.Now - logStartTime_).TotalMilliseconds).ToString();
log += string.Format("{0}", timestamp);
WriteToFile(eventLogFile_, log);
}
// Append data to HL and OP data lists
List <double> hldata = new List <double>()
{
poseData.kbPos.X, poseData.kbPos.Y, poseData.kbPos.Z, poseData.kbRot.W, poseData.kbRot.X, poseData.kbRot.Y, poseData.kbRot.Z, poseData.camPos.X, poseData.camPos.Y, poseData.camPos.Z, poseData.camRot.W, poseData.camRot.X, poseData.camRot.Y, poseData.camRot.Z
};
List <double> opdata = new List <double>()
{
nnPoseData.rbPos.X, nnPoseData.rbPos.Y, nnPoseData.rbPos.Z, nnPoseData.rbRot.W, nnPoseData.rbRot.X, nnPoseData.rbRot.Y, nnPoseData.rbRot.Z
};
HLdata.Add(hldata);
OPdata.Add(opdata);
}
