void Initialize()
{
listener = new Listener <Joy>(topic, Handler);
node = FrameNode.Instantiate("VrListener");
node.AttachTo(tfName);
}
public SimpleRobotController([NotNull] IModuleData moduleData)
{
node = FrameNode.Instantiate("SimpleRobotNode");
ModuleData = moduleData ?? throw new ArgumentNullException(nameof(moduleData));
Config = new RobotConfiguration();
}
public DepthCloudController([NotNull] IModuleData moduleData)
{
ModuleData = moduleData ?? throw new ArgumentNullException(nameof(moduleData));
depthImageTexture = new ImageTexture();
colorImageTexture = new ImageTexture();
node = FrameNode.Instantiate("DepthCloud");
node.Transform.localRotation = new Quaternion(0, 0.7071f, 0.7071f, 0);
projector = ResourcePool.RentDisplay <DepthCloudResource>(node.Transform);
projector.DepthImage = depthImageTexture;
projector.ColorImage = colorImageTexture;
Config = new DepthCloudConfiguration();
depthImageTexture.Colormap = ColormapId.gray;
colorImageTexture.Colormap = ColormapId.gray;
}
public InteractiveMarkerListener([NotNull] IModuleData moduleData)
{
ModuleData = moduleData ?? throw new ArgumentNullException(nameof(moduleData));
node = FrameNode.Instantiate("[InteractiveMarkerListener]");
}