private void UpdateFiducial(FiducialMapEntryMsg entry)
{
Vector3 localpos = new Vector3((float)entry._x, (float)entry._z, (float)entry._y);
_fiducials[entry._fiducial_id].transform.localPosition = _fiducials[ZeroFiducial.FiducialId].transform.rotation * localpos;
_fiducials[entry._fiducial_id].transform.localEulerAngles = new Vector3((float)entry._rx * Mathf.Rad2Deg, (float)entry._rz * Mathf.Rad2Deg, (float)entry._ry * Mathf.Rad2Deg);
}
public FiducialMapEntryArrayMsg(JSONNode msg)
{
Fiducials = new FiducialMapEntryMsg[msg["fiducials"].Count];
for (int i = 0; i < Fiducials.Length; i++)
{
Fiducials[i] = new FiducialMapEntryMsg(msg["fiducials"][i]);
}
}
/// <summary>
/// Creates entire FiducialMapEntryArrayMsg to be published.
/// </summary>
private FiducialMapEntryArrayMsg GetFiducialMapForPublish()
{
FiducialMapEntryMsg[] mapEntries = new FiducialMapEntryMsg[_fiducialObjects.Count];
for (int i = 0; i < _fiducialObjects.Count; i++)
{
FiducialObject f = _fiducialObjects.ElementAt(i).Value;
mapEntries[i] = CreateFiducialMapEntryMessage(f.Id, f.Position, f.Rotation);
}
return(new FiducialMapEntryArrayMsg(mapEntries));
}
