public void processCalibrationMatrix(string calibration)
{
string[] tokens = calibration.Split(MessageSeparators.L1);
foreach (string s in tokens)
{
if (s == "")
{
break;
}
string[] chunks = s.Split(';');
string id = chunks[0];
Matrix4x4 mat = new Matrix4x4(new Vector4(float.Parse(chunks[1]), float.Parse(chunks[5]), float.Parse(chunks[9]), float.Parse(chunks[13])),
new Vector4(float.Parse(chunks[2]), float.Parse(chunks[6]), float.Parse(chunks[10]), float.Parse(chunks[14])),
new Vector4(float.Parse(chunks[3]), float.Parse(chunks[7]), float.Parse(chunks[11]), float.Parse(chunks[15])),
new Vector4(float.Parse(chunks[4]), float.Parse(chunks[8]), float.Parse(chunks[12]), float.Parse(chunks[16])));
GameObject cloudobj = new GameObject(id);
cloudobj.transform.localPosition = new Vector3(mat[0, 3], mat[1, 3], mat[2, 3]);
cloudobj.transform.localRotation = mat.rotation;
cloudobj.transform.localScale = new Vector3(-1, 1, 1);
cloudobj.AddComponent <PointCloudDepth>();
PointCloudDepth cloud = cloudobj.GetComponent <PointCloudDepth>();
cloud.Init();
_clouds.Add(id, cloud);
_cloudGameObjects.Add(id, cloudobj);
}
}
public void processCalibration(string calibration)
{
string[] tokens = calibration.Split(MessageSeparators.L1);
foreach (string s in tokens)
{
if (s == "")
{
break;
}
string[] chunks = s.Split(';');
string id = chunks[0];
float px = float.Parse(chunks[1]);
float py = float.Parse(chunks[2]);
float pz = float.Parse(chunks[3]);
float rx = float.Parse(chunks[4]);
float ry = float.Parse(chunks[5]);
float rz = float.Parse(chunks[6]);
float rw = float.Parse(chunks[7]);
GameObject cloudobj = new GameObject(id);
cloudobj.transform.localPosition = new Vector3(px, py, pz);
cloudobj.transform.localRotation = new Quaternion(rx, ry, rz, rw);
cloudobj.transform.localScale = new Vector3(-1, 1, 1);
cloudobj.AddComponent <PointCloudDepth>();
PointCloudDepth cloud = cloudobj.GetComponent <PointCloudDepth>();
cloud.Init();
_clouds.Add(id, cloud);
_cloudGameObjects.Add(id, cloudobj);
cloudobj.transform.parent = _parent;
}
}
private void loadConfig()
{
Dictionary <string, string> config = ConfigProperties.load(configFile);
_videosDir = config["videosDir"];
_colorStreamName = config["colorStreamName"];
_depthStreamName = config["depthStreamName"];
_normalStreamName = config["normalStreamName"];
_vidWidth = int.Parse(config["vidWidth"]);
_vidHeight = int.Parse(config["vidHeight"]);
_layerNum = int.Parse(config["numLayers"]);
for (int i = 0; i < _layerNum; i++)
{
string s = "";
s = s + i;
string calib = config[s];
string[] chunks = calib.Split(';');
Matrix4x4 mat = new Matrix4x4(new Vector4(float.Parse(chunks[0]), float.Parse(chunks[4]), float.Parse(chunks[8]), float.Parse(chunks[12])),
new Vector4(float.Parse(chunks[1]), float.Parse(chunks[5]), float.Parse(chunks[9]), float.Parse(chunks[13])),
new Vector4(float.Parse(chunks[2]), float.Parse(chunks[6]), float.Parse(chunks[10]), float.Parse(chunks[14])),
new Vector4(float.Parse(chunks[3]), float.Parse(chunks[7]), float.Parse(chunks[11]), float.Parse(chunks[15])));
GameObject cloudobj = new GameObject(s);
cloudobj.transform.SetParent(_papi.transform);
cloudobj.transform.localPosition = new Vector3(mat[0, 3], mat[1, 3], mat[2, 3]);
cloudobj.transform.localRotation = mat.rotation;
cloudobj.transform.localScale = new Vector3(-1, 1, 1);
cloudobj.AddComponent <PointCloudDepth>();
PointCloudDepth cloud = cloudobj.GetComponent <PointCloudDepth>();
//play from url
string colorvideo = _videosDir + "\\" + s + _colorStreamName;
//char[] sep = { '\\' };
//string[] folderName = _videosDir.Split(sep);
//string colorvideo = "CloudData\\" + folderName[folderName.Length - 1] + "\\" + s + _colorStreamName;
string depthvideo = _videosDir + "\\" + s + _depthStreamName;
//string normalvideo = _videosDir + "\\" + s + _normalStreamName;
cloud.initStructs((uint)i, colorvideo, depthvideo, cloudobj, this);
_clouds.Add(s, cloud);
}
}