105 lines
3.7 KiB
C#
105 lines
3.7 KiB
C#
using System;
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using System.Runtime.InteropServices;
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namespace Unity.XR.PICO.TOBSupport
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{
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// pico slam results
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[StructLayout(LayoutKind.Sequential)]
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public struct SixDof
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{
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public Int64 timestamp; // nanoseconds
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public double x; // position X
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public double y; // position Y
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public double z; // position Z
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public double rw; // rotation W
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public double rx; // rotation X
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public double ry; // rotation Y
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public double rz; // rotation Z
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public byte type; //1:6DOF 0:3DOF
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public byte confidence; //1:good 0:bad
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public PoseErrorType error;
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public double plane_height;
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public byte plane_status;
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public byte relocation_status;
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 24)]
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public byte[] reserved;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct AlgoResult
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{
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public SixDof pose;
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public SixDof relocation_pose;
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public double vx, vy, vz; // linear velocity
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public double ax, ay, az; // linear acceleration
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public double wx, wy, wz; // angular velocity
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public double w_ax, w_ay, w_az; // angular acceleration
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 48)]
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public byte[] reserved;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct FrameItem
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{
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public byte camera_id;
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public UInt32 width; // width
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public UInt32 height; // height
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public UInt32 format; // format - rgb24
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public UInt32 exposure_duration; // exposure duration:ns
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public UInt64 timestamp; // start of exposure time:ns (BOOTTIME)
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public UInt64 qtimer_timestamp; // nanoseconds in qtimer
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public UInt64 framenumber; // frame number
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public UInt32 datasize; // datasize
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public IntPtr data; // image data.
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct FrameItemExt
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{
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public FrameItem frame;
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public bool is_rgb;
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
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public double[] rgb_tsw_matrix;
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public bool is_anti_distortion;
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public AlgoResult six_dof_pose;
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
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public byte[] reserved;
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct Frame
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{
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public UInt32 width; // width
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public UInt32 height; // height
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public UInt64 timestamp; // start of exposure time:ns (BOOTTIME)
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public UInt32 datasize; // datasize
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public IntPtr data; // image data
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public UnityEngine.Pose pose; // The head Pose at the time of image production.（Right-handed coordinate system: X right, Y up, Z in）
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public int status; // sensor status(1:good 0:bad)
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct SensorState
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{
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public UnityEngine.Pose pose; // Predict the head Pose at the screen up time.（Right-handed coordinate system: X right, Y up, Z in）
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public int status; // sensor status(1:good 0:bad)
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}
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[StructLayout(LayoutKind.Sequential)]
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public struct RGBCameraParams
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{
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// Intrinsics
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public double fx;
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public double fy;
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public double cx;
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public double cy;
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// Extrinsics
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public double x;
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public double y;
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public double z;
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public double rw;
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public double rx;
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public double ry;
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public double rz;
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}
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} |