public Vector3[] GetPointCloud()
{
const int MAX_POINT_COUNT = 500;
float[] m_data = new float[MAX_POINT_COUNT * 3];
GCHandle dataObject;
IntPtr dataInptr;
dataObject = GCHandle.Alloc(m_data, GCHandleType.Pinned);
dataInptr = dataObject.AddrOfPinnedObject();
int len = 0;
PointCloudSo.get_point_cloud(out len, dataInptr);
Vector3[] points = new Vector3[len];
int[] indices = new int[len];
for (int j = 0; j < len; j++)
{
// points
points[j].x = m_data[3 * j];
points[j].y = m_data[3 * j + 1];
points[j].z = m_data[3 * j + 2];
//index
indices[j] = j;
// Debug.Log("m_points [" + j + "]" + Vector3ToString(points[j]));
}
return(points);
}
public bool StartSlam()
{
return(PointCloudSo.start_slam());
}
public int SlamInt()
{
return(PointCloudSo.slam_init());
}
public bool ModeSwitch(bool mode)
{
return(PointCloudSo.mode_switch(mode));
}
public bool StopSlam()
{
return(PointCloudSo.stop_slam());
}