public void OnNewPointFrame(Astra.PointFrame pointFrame)
{
//TODO: I think this should guarantee that there is data, but should make sure
if (pointFrame.Width == 0 ||
pointFrame.Height == 0)
{
return;
}
//This is default, but I would assume astra only calls "onNewFrame" once fram index has changed in the first place??
//if (_lastFrameIndex == pointFrame.FrameIndex)
//{
// return;
//}
//_lastFrameIndex = depthFrame.FrameIndex;
//print("Depth frame x: " + depthFrame.Width + "y: " + depthFrame.Height);
//EnsureBuffers(depthFrame.Width, depthFrame.Height);
//depthFrame.CopyData(ref _depthFrameData);
Astra.Vector3D[] pointData = new Astra.Vector3D[pointFrame.Width * pointFrame.Height];
//Vector3[] pointData = new Vector3;
pointFrame.CopyData(ref pointData);
dataToParticles(pointData);
}
// astra vectors are in mm, convert to a good unity scale as this is too big
public static Vector3 AstraVector3dToUnity(Astra.Vector3D astraVector, float scale = 0.01f)
=> new Vector3(
astraVector.X,
astraVector.Y,
astraVector.Z) * 0.01f;
private Vector3 V3(Astra.Joint joint1, Astra.Joint joint2)
{
Astra.Vector3D value1 = joint1.WorldPosition;
Astra.Vector3D value2 = joint2.WorldPosition;
return(new Vector3(value2.X - value1.X, value2.Y - value1.Y, value2.Z - value1.Z));
}
private Vector3 V3(Astra.Vector3D value)
{
return(new Vector3(value.X, value.Y, value.Z));
}
