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);
}
