public FiducialTransformMsg(int fiducial_id, TransformMsg transform, double image_error, double object_error, double fiducial_area)
{
_fiducial_id = fiducial_id;
_transform = transform;
_image_error = image_error;
_object_error = object_error;
_fiducial_area = fiducial_area;
}
public FiducialTransformMsg(JSONNode msg)
{
_fiducial_id = int.Parse(msg["fiducial_id"]);
_transform = new TransformMsg(msg["transform"]);
_image_error = float.Parse(msg["image_error"]);
_object_error = float.Parse(msg["object_error"]);
_fiducial_area = float.Parse(msg["fiducial_area"]);
}
Transform CreateTf(string name, string nameParent, TransformMsg msg)
{
Transform newTf = new GameObject().transform;
if (nameParent != "")
{
GameObject parent = GameObject.Find(nameParent);
if (parent == null)
{
newTf.parent = CreateTf(nameParent, "", Matrix4x4.identity);
}
else
{
newTf.parent = parent.transform;
}
}
newTf.name = name;
newTf.position = msg.GetTranslation().GetVector3Unity();
newTf.rotation = msg.GetRotation().GetQuaternionUnity();
return(newTf);
}
public TransformStampedMsg(JSONNode msg)
{
_header = new HeaderMsg(msg["header"]);
_transform = new TransformMsg(msg["transform"]);
}
public static void GUI(this TransformMsg message)
{
message.translation.GUI("Translation");
message.rotation.GUI("Rotation");
}
public TransformStampedMsg(HeaderMsg header, string child_frame_id, TransformMsg transform)
{
_header = header;
_child_frame_id = child_frame_id;
_transform = transform;
}
public TransformStampedMsg(JSONNode msg)
{
_header = new HeaderMsg(msg["header"]);
_child_frame_id = msg["child_frame_id"];
_transform = new TransformMsg(msg["transform"]);
}
