public static AirSimQuaternion ToAirSimQuaternion(Quaternion src)
{
AirSimQuaternion quat = new AirSimQuaternion();
SetToAirSim(src, ref quat);
return(quat);
}
public static Quaternion ToUnityQuaternion(AirSimQuaternion src)
{
Quaternion quat = new Quaternion();
SetToUnity(src, ref quat);
return(quat);
}
public bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation)
{
foreach (DataCaptureScript capture in captureCameras)
{
if (capture.GetCameraName() == cameraName)
{
capture.SetOrientation(orientation);
return(true);
}
}
return(false);
}
public void reset()
{
image_uint_len = 0;
image_float_len = 0;
image_data_uint = new byte[] { };
image_data_float = new float[] { };
this.camera_position = new AirSimVector();
this.camera_orientation = new AirSimQuaternion();
this.pixels_as_float = false;
this.compress = false;
this.width = 0;
this.height = 0;
this.image_type = ImageType.Scene;
}
public ImageResponse(string cameraName)
{
image_uint_len = 0;
image_data_uint = null;
image_float_len = 0;
image_data_float = null;
camera_position = new AirSimVector(0, 0, 0);
camera_orientation = new AirSimQuaternion(0, 0, 0, 0);
pixels_as_float = false;
compress = false;
width = 0;
height = 0;
image_type = 0;
}
public ImageResponse(List <byte> imageDataInt, List <float> imageDataFloat, string cameraName,
AirSimVector camera_position, AirSimQuaternion camera_orientation,
bool pixels_as_float, bool compress, int width, int height, ImageType image_type)
{
if (imageDataInt == null)
{
image_uint_len = 0;
}
else
{
image_uint_len = imageDataInt.Count;
}
image_data_uint = new byte[image_uint_len];
if (image_uint_len > 0)
{
imageDataInt.CopyTo(image_data_uint);
}
if (imageDataFloat == null)
{
image_float_len = 0;
}
else
{
image_float_len = imageDataFloat.Count;
}
image_data_float = new float[image_float_len];
if (image_float_len > 0)
{
imageDataFloat.CopyTo(image_data_float);
}
this.camera_position = camera_position;
this.camera_orientation = camera_orientation;
this.pixels_as_float = pixels_as_float;
this.compress = compress;
this.width = width;
this.height = height;
this.image_type = image_type;
}
public void SetOrientation(AirSimQuaternion orientation)
{
DataManager.SetToUnity(orientation, ref poseFromAirLib);
isPoseOverride = true;
}
public void DefaultInitialization()
{
Rotation = new AirSimQuaternion(0, 0, 0, 1);
Position = new AirSimVector(0, 0, 0);
Scale3D = new AirSimVector(1, 1, 1);
}
public UnityTransform(AirSimQuaternion rotation, AirSimVector position, AirSimVector scale3d)
{
Rotation = rotation;
Position = position;
Scale3D = scale3d;
}
public GeoPose(AirSimQuaternion orientation, GeoPoint position)
{
this.orientation = orientation;
this.position = position;
}
public AirSimPose(AirSimVector position, AirSimQuaternion orientation)
{
this.position = position;
this.orientation = orientation;
}
public static void SetToAirSim(Quaternion src, ref AirSimQuaternion dst)
{
dst.Set(src.z, -src.x, -src.y, src.w);
}
public static void SetToUnity(AirSimQuaternion src, ref Quaternion dst)
{
dst.Set(-src.y, src.z, -src.x, src.w);
}
private static bool SetCameraOrientation(string cameraName, AirSimQuaternion orientation, string vehicleName)
{
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
return(vehicle.VehicleInterface.SetCameraOrientation(cameraName, orientation));
}
