private void UpdateInitPose(Camera cam)
{
// Get the VisionLib transformation from the Unity camera
VLUnityCameraHelper.CameraToVLPose(
cam, this.rotCamera, out this.t, out this.q);
// Convert the transformation into JSON
this.initPose.Set(t, q);
this.initPoseString = VLJsonUtility.ToJson(this.initPose,
this.prettyPrint);
}
/// <summary>
/// Returns the current transformation of the Camera component in
/// VisionLib coordinates as JSON string.
/// </summary>
/// <returns>
/// JSON string with initial pose in VisionLib coordinates.
/// </returns>
public string GetInitPoseJson()
{
if (!this.InitWorkerReference())
{
return("");
}
// Get the VisionLib transformation from the camera component
Vector4 t;
Quaternion q;
VLUnityCameraHelper.CameraToVLPose(
this.cam, this.rotCamera, out t, out q,
this.workerBehaviour.flipCoordinateSystemHandedness);
// Convert the transformation into JSON
InitPose param = new InitPose(t.x, t.y, t.z, q.x, q.y, q.z, q.w);
return(VLJsonUtility.ToJson(param, this.prettyPrint));
}