public PerceptionClientJsonTest()
{
string demoJson = "{ 'TrackingState': 3, 'Camera': { 'Displays': [{ 'Frustum': { 'Bottom': [-0.051801, -0.938592, 0.341118, 0.096521], 'Far': [0.161880, -0.108995, -0.980773, -14.932893], 'Left': [-0.978711, 0.035061, 0.202229, -0.001346], 'Near': [-0.161880, 0.108995, 0.980773, 0.229674], 'Right': [0.852517, 0.045374, 0.520726, 0.059935], 'Top': [-0.027835, 0.989556, 0.141437, -0.057139] }, 'FocusPointDisplay': [0.027431, -0.055531, 0.681227], 'FocusPointNormalDisplay': [0.027496, 0.018920, -0.999443], 'Projection': [2.517434, 0.000000, 0.000000, 0.000000, 0.000000, 3.942319, 0.000000, 0.000000, 0.026739, 0.022574, -1.010101, -1.000000, 0.000000, 0.000000, -0.151515, 0.000000], 'View': [0.986714, 0.013233, -0.161879, 0.000000, 0.004548, 0.994024, 0.108994, 0.000000, 0.162359, -0.108279, 0.980768, 0.000000, 0.032239, -0.079692, 0.079658, 1.000000] }, { 'Frustum': { 'Bottom': [-0.038760, -0.936097, 0.349601, 0.097126], 'Far': [0.151884, -0.110772, -0.982171, -14.933148], 'Left': [-0.972330, 0.027587, 0.231978, 0.060137], 'Near': [-0.151884, 0.110772, 0.982171, 0.230036], 'Right': [0.866618, 0.054504, 0.495987, -0.001130], 'Top': [-0.036070, 0.990279, 0.134340, -0.057670] }, 'FocusPointDisplay': [0.027431, -0.055531, 0.681227], 'FocusPointNormalDisplay': [0.027496, 0.018920, -0.999443], 'Projection': [2.510000, 0.000000, 0.000000, 0.000000, 0.000000, 3.934346, 0.000000, 0.000000, -0.026656, 0.003352, -1.010101, -1.000000, 0.000000, 0.000000, -0.151515, 0.000000], 'View': [0.988389, 0.001509, -0.151883, 0.000000, 0.015503, 0.993717, 0.110772, 0.000000, 0.151101, -0.111838, 0.982167, 0.000000, -0.032242, -0.079922, 0.080020, 1.000000] } ] }, 'ControllerData': {}, 'LSRPlane': { 'distance': 0.681144, 'x': 0.027496, 'y': 0.018920, 'z': -0.999443 }, 'HeadToAttachedFor': [0.987598, 0.010029, 0.156735, 0.000000, -0.005502, 0.999565, -0.029288, 0.000000, -0.156963, 0.028058, 0.987211, 0.000000, 0.013141, 0.070723, -0.087326, 1.000000], 'OriginToAttachedFor': [1.000005, 0.000028, 0.000374, 0.000000, -0.000027, 1.000005, -0.000055, 0.000000, -0.000376, 0.000053, 1.000003, 0.000000, 0.033230, -0.006217, 0.002964, 1.000000] } ";
PerceptionClient pc = JsonConvert.DeserializeObject <PerceptionClient>(demoJson);
Debug.WriteLine(pc.TrackingState);
}
public DeviceSocket(string userName, string password, string IP)
{
this.userName = userName;
this.password = password;
this.IP = IP;
Result = "";
// rest call for the head and origin camera position and orientation.
// notably different from the documented API (/api/holographic/perception/client)
webSocket = new WebSocket("ws://" + IP + positionCommand);
//need to specify origin, which would be the home page?
webSocket.Origin = "http://" + IP;
bool preAuth = true;
webSocket.SetCredentials(userName, password, preAuth);
webSocket.OnError += (sender, e) =>
{
Debug.WriteLine("Error: " + e.Message);
Result = "Error: " + e.Message;
};
webSocket.OnMessage += (sender, e) =>
{
PerceptionClient perceptionClient = JsonConvert.DeserializeObject <PerceptionClient>(e.Data);
int index = 0;
StringBuilder results = new StringBuilder();
//OriginToAttachedFor -> JSON tag for the 4x4 transformation matrix of the origin
//HeadToAttachedFor -> same, for the head.
//not sure of the difference really
//last row of origin is the position vector
results.Append("Origin position\n\n");
for (int i = 3; i < 4; i++)
{
for (int j = 0; j < 3; j++)
{
results.Append(string.Format("{0,8:###.00000}", perceptionClient.OriginToAttachedFor[index]));
index++;
}
results.Append("\n");
}
results.Append("\n");
//convert the 4x4 transformation matrix to quaternion (ignore position data)
float[] HeadQuat = transformToQuaternion(perceptionClient.HeadToAttachedFor);
results.Append("Head Rotation Quaternion\n\n");
for (int i = 0; i < 4; i++)
{
results.Append(string.Format("{0,8:###.00000}", HeadQuat[i]));
}
Result = results.ToString();
};
webSocket.OnClose += (sender, e) =>
{
Debug.WriteLine("Closed: " + e.Reason);
Result = "Closed: " + e.Reason;
};
webSocket.Connect();
}