camera pose and roll pitch yaw

front 0.6 1.7 -0.23

Rotate 90 degrees to the left 0.1 -0.6 90 or 179,179, -88

down 140, 176, -88

up 34, -1, 88

Video

https://youtu.be/XeqQnfQZBqI

Code

using UnityEngine;
using System.Net.Sockets;
using System.Text;
using System.Threading;
using System;
using System.Security.Cryptography;
using System.Collections.Specialized;
using System.IO;
using Unity.VisualScripting;
using UnityEditor.Profiling.Memory.Experimental;
using Unity.Jobs;

public class RobotVisualizer : MonoBehaviour
{
    TcpClient client;
    Thread receiveThread;
    string serverIp = "127.0.0.1";
    int serverPort = 8888;

    Vector3 targetPosition;
    Vector3 targetRotation;

    float Roll_;
    float Roll_2;
    float Pitch_;
    float Yaw_;
    float bRoll_ = 0.0f;
    float bPitch_ = 0.0f;
    float bYaw_ = 0.0f;
    bool positionUpdated = false;

    // 텍스트 파일 경로
    static string filePath = "C:\\\\Users\\\\cam_initi_data.txt";

    // 텍스트 파일 읽어오기
    static string content = ReadTextFile(filePath);

    static string[] elements = content.Trim().Split();

    //static float x_ = (float.Parse(elements[0]));
    //static float y_ = (float.Parse(elements[1]));
    //static float z_ = (float.Parse(elements[2]));
    int flag = 2;
    bool flag2 = true;

    void Start()
    {
        client = new TcpClient(serverIp, serverPort);
        receiveThread = new Thread(new ThreadStart(ReceiveData));
        receiveThread.IsBackground = true;
        receiveThread.Start();
        print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
    }
    //        bRoll_ = Roll_;
    //        bPitch_ = Pitch_;
    //        bYaw_ = Yaw_;
    //        positionUpdated = false;

    void Update()
    {

        if (positionUpdated)
        {
            if (Mathf.Abs(bRoll_ - Roll_) > 150 && flag == 2)
            {

                print("flag = 1 and bRoll_ - Roll_ : " + (bRoll_ - Roll_));
                flag = 1;//바꾸기

            }
            else if (Mathf.Abs(bRoll_ - Roll_) > 150 && flag == 1)
            {
                print("flag = 2 and bRoll_ - Roll_ : " + (bRoll_ - Roll_));
                flag = 2;//그대로

            }

            if (flag == 1)
            {

                Roll_2 = Roll_ + 180;
                //bPitch_ 150
                //Pitch_ 30

                if (Pitch_ > 0)
                {
                    Pitch_ = 180 - Pitch_;
                }
                else if (Pitch_ < 0)
                {
                    Pitch_ = -180 - Pitch_;
                }
                //bYaw_: 150                           bYaw : -30
                //Yaw: 151 + 180 --> -29               Yaw : - 31 + 180  -> 149
                //Yaw_ = Yaw_ - 180;
                if (Yaw_ > 0)
                {
                    Yaw_ = Yaw_ - 180;
                }
                else if (Yaw_ < 0)
                {
                    Yaw_ = Yaw_ + 180;
                }

                print("flag = 1 : Rotate");
                print("Roll_2 : " + Roll_2);
                transform.position = targetPosition;
                //transform.eulerAngles = targetRotation;
                transform.eulerAngles = new Vector3(0, 0, 0);
                print(" Pitch_ : " + Pitch_ + " Yaw_ : " + Yaw_ + " Roll_2 : " + -Roll_2);
                transform.Rotate(0.0f, Yaw_, 0.0f, Space.World);
                transform.Rotate(Pitch_, 0.0f, 0.0f, Space.Self);
                transform.Rotate(0.0f, 0.0f, -Roll_2, Space.Self);

                bRoll_ = Roll_2 - 180;
                bPitch_ = Pitch_;
                bYaw_ = Yaw_;
                positionUpdated = false;
            }
            else
            {

                print("flag = 2 : Rotate");
                transform.position = targetPosition;
                // transform.eulerAngles = targetRotation;

                transform.eulerAngles = new Vector3(0, 0, 0);
                print(" Pitch_ : " + Pitch_ + " Yaw_ : " + Yaw_ + " Roll_ : " + -Roll_);
                transform.Rotate(0.0f, Yaw_, 0.0f, Space.World);
                transform.Rotate(Pitch_, 0.0f, 0.0f, Space.Self);
                transform.Rotate(0.0f, 0.0f, -Roll_, Space.Self);

                bRoll_ = Roll_;
                bPitch_ = Pitch_;
                bYaw_ = Yaw_;
                positionUpdated = false;
            }
        }
        else
        {
            transform.Rotate(0.0f, 0.0f, 0.0f, Space.World);
            transform.Rotate(0.0f, 0.0f, 0.0f, Space.Self);
            transform.Rotate(0.0f, 0.0f, 0.0f, Space.Self);

        }
    }

    void ReceiveData()
    {
        NetworkStream stream = client.GetStream();
        byte[] data = new byte[1024];

        while (true)
        {
            int bytesReceived = stream.Read(data, 0, data.Length);
            string message = Encoding.ASCII.GetString(data, 0, bytesReceived);
            ParseData(message);
            Thread.Sleep(100);
        }
    }

    void ParseData(string data)
    {
        string[] values = data.Split(',');
        Vector3 position = new Vector3(
            -Convert.ToSingle(values[0]) + 0,
            Convert.ToSingle(values[1]) + 0,
            Convert.ToSingle(values[2]) + 0);

        //Vector3 rotation = new Vector3(
        //    Convert.ToSingle(values[4]),
        //    -Convert.ToSingle(values[5]),
        //    -Convert.ToSingle(values[3]));
        Roll_ = Convert.ToSingle(values[3]);
        Pitch_ = Convert.ToSingle(values[4]);
        Yaw_ = -Convert.ToSingle(values[5]);

        targetPosition = position;
        //targetRotation = rotation;

        positionUpdated = true;
    }

    void OnApplicationQuit()
    {
        if (receiveThread != null)
            receiveThread.Abort();
        if (client != null)
            client.Close();
    }

    static string ReadTextFile(string filePath)
    {
        try
        {
            // 파일의 모든 텍스트를 읽어옴
            string content = File.ReadAllText(filePath);
            return content;
        }
        catch (Exception ex)
        {
            // 예외 발생 시 처리
            Console.WriteLine($"파일 읽기 오류: {ex.Message}");
            return string.Empty;
        }
    }

}