Works 4/25/2024

Simulation works 4/17/2024

CameraTest.m

@@ -0,0 +1,241 @@
+%Camera to position
+
+clc;
+clear all;
+close all;
+
+%constants 
+
+RGB = 1;
+
+   TOP_CAM_H = 13;
+   TOP_CAM_FOV_H = 90;
+   TOP_CAM_FOV_V = 58.70567;
+   TOP_CAM_IMG_W = 3840;
+   TOP_CAM_IMG_H = 2160;
+
+    SIDE_CAM_H = .6;
+    SIDE_CAM_Y = 9.5;
+    SIDE_CAM_FOV_H = 133.1735;
+    SIDE_CAM_FOV_V = 120;
+    SIDE_CAM_IMG_W = 3840;
+    SIDE_CAM_IMG_H = 2160;
+
+NA = 0;
+
+Data = [0, 0, 0, 0, 0, 0];
+%cent = [0, 0, 0, 0, 0, 0]; %test array
+
+%Include source files in path
+addpath(genpath('../src'))
+
+%Initialization Parameters
+server_ip   = '127.0.0.1';     %IP address of the Unity Server
+server_port = 55001;           %Server Port of the Unity Sever
+
+client = tcpclient(server_ip,server_port);
+fprintf(1,"Connected to server\n");
+
+%--------------------------------------------------------------------------------------
+
+% x,y,z,yaw[z],pitch[y],roll[x]
+pose = [0,44,0,90,-90,3]; % move TennisBall out of the way
+unityLink(client,pose);
+
+%TopCamera Baseline
+pose = [NA,NA,NA,NA,NA,0]; % move camera Top
+unityLink(client,pose);
+
+unityImage = unityLink(client,pose);
+
+baselineTop = unityImage;
+imwrite(baselineTop,"baselineTop.png");
+
+%SideCamera Baseline
+pose = [NA,NA,NA,NA,NA,1]; % move camera Side
+unityLink(client,pose);
+
+unityImage = unityLink(client,pose);
+
+baselineSide = unityImage;
+imwrite(baselineSide,"baselineSide.png");
+
+%import serve data
+filename = 'serves/serve4.dat';
+M = readmatrix(filename);
+
+%Enter Loop
+for i = 1:1:(length(M))  % [m]
+
+    %Pull position from serve data
+        heightZ = M(i,2);%1;
+        lengthX = M(i,1);%2;
+        widthY = M(i,3);%2;
+      
+        pose = [lengthX,heightZ,widthY,90,-90,3]; % move TennisBall
+        unityLink(client,pose);
+%----------------------------------------------------------------------------------------------------------
+  %Camera position Top
+        pose = [NA,NA,NA,NA,NA,0]; % move camera Top position
+        unityImage = unityLink(client,pose);
+
+        TenisBallOnly = imsubtract(unityImage, baselineTop);
+
+        % use RGB values here instead grey Scales a problem
+        [rowR,colR] = find(abs(TenisBallOnly(:,:,1)) ~= 0);% thresholdNum);%find tennis ball indexes 
+        [rowG,colG] = find(abs(TenisBallOnly(:,:,2)) ~= 0);%> thresholdNum);
+        [rowB,colB] = find(abs(TenisBallOnly(:,:,3)) ~= 0);%> thresholdNum);
+
+
+        xTopR = mean(colR);
+        yTopR = mean(rowR);
+
+        %xTopG = mean(colG);
+        %yTopG = mean(rowG);
+
+        %xTopB = mean(colB);
+        %yTopB = mean(rowB);
+
+        %cent(end+1,:) = [xTopR, yTopR, xTopG, yTopG,xTopB, yTopB]; %test
+        %array
+
+        %uses Red
+        xTop = xTopR;
+        yTop = yTopR;
+%----------------------------------------------------------------------------------------------------------        
+   %Camera Position Side
+        pose = [NA,NA,NA,NA,NA,1]; % move camera Side position
+        unityImage = unityLink(client,pose);
+
+      %  imwrite(unityImage,"Side.png");
+        TenisBallOnly = imsubtract(unityImage, baselineSide); %imsubtract
+        %imshow(unityImage);
+        % use RGB values here instead grey Scales a problem
+        [row,col] = find(TenisBallOnly(:,:,RGB) ~= 0);%find tennis ball indexes 
+
+        xSide = mean(col);
+        ySide = mean(row);
+%------------------------------------------------------------------------------------------------------------
+    %Calculate 3D position
+        [X,Y,Z] = find3DOrthogonal(xTop, yTop, xSide, ySide);
+        if(~(isnan(X)))
+            Data(end+1,:) = [lengthX, widthY, heightZ, X, Y, Z];%
+        end
+
+end 
+
+figure
+scatter3(0,0,TOP_CAM_H);                                   %Top Camera
+hold on
+scatter3(SIDE_CAM_Y,0,SIDE_CAM_H);                         %Side Camera
+scatter3(Data(:,1),Data(:,2),Data(:,3),10,'filled')           %Actual Position 
+scatter3(Data(2,1),Data(2,2),Data(2,3), 200,'x','red')     %Starting Postion 
+
+scatter3(Data(:,4),Data(:,5),Data(:,6),10,'filled','blue')    %Calculated Position
+patch([5.02 -5.02 -5.02 5.02], [11.88 11.88 -11.88 -11.88], [0 0 0 0],'Green') %Tennis Court Plane
+scatter3([15 15 -15 -15 15 15 -15 -15],[15 -15 15 -15 15 -15 15 -15],[-1 -1 -1 -1 TOP_CAM_H TOP_CAM_H TOP_CAM_H TOP_CAM_H],1,'x'); %Corrners 
+
+xlabel("Unity X")
+ylabel("Unity Z")
+zlabel("Unity Y")
+
+hold off
+
+figure
+title("X postion vs sample number")
+hold on 
+plot(Data(2:end,1))
+plot(Data(2:end,4))
+hold off
+
+figure
+title("Z postion vs sample number")
+hold on 
+plot(Data(2:end,2))
+plot(Data(2:end,5))
+hold off
+
+figure
+title("Y(height) postion vs sample number")
+hold on 
+plot(Data(2:end,3))
+plot(Data(2:end,6))
+hold off
+
+%--------------------------------------------------------------------------------------
+
+%Poly fit stuff uncomment all to see results
+
+%t = 0:(size(Data)-2);
+%
+%tz = 0:(size(Data)-2);
+%d = (Data(2:end,5));
+%
+%p = polyfit(tz,d',2);
+%zfit = polyval(p,tz);
+%
+%figure
+%title("Z postion vs sample number PolyFit")
+%hold on 
+%plot(Data(2:end,2))
+%plot(zfit)
+%hold off
+%
+%tx = 0:(size(Data)-2);
+%d = (Data(2:end,4));
+%
+%p = polyfit(tx,d',2);
+%xfit = polyval(p,tz);
+%
+%figure
+%title("X postion vs sample number PolyFit")
+%hold on 
+%plot(Data(2:end,1))
+%plot(xfit)
+%hold off
+%
+%d = (Data(2:end,6));
+%[zeros,zIdx] = min(d);
+%ty1 = 1:(zIdx-1);
+%ty2 = (zIdx-1):(size(Data)-2);
+%d1 = (Data(2:zIdx,6));
+%d2 = (Data(zIdx:size(Data)-1,6));
+%
+%
+%p1 = polyfit(ty1,d1',3);
+%%yfit1 = polyval(p1,t);
+%
+%p2 = polyfit(ty2,d2',3);
+%%yfit2 = polyval(p2,ty);
+%
+%
+%
+%yfit = horzcat(polyval(p1,ty1),polyval(p2,ty2));
+%
+%figure
+%title("Y(height) postion vs sample number PolyFit")
+%hold on 
+%plot(Data(2:end,3))
+%plot(yfit)
+%hold off
+%
+%figure
+%scatter3(0,0,TOP_CAM_H);                                   %Top Camera
+%hold on
+%scatter3(SIDE_CAM_Y,0,SIDE_CAM_H);                         %Side Camera
+%scatter3(Data(:,1),Data(:,2),Data(:,3),10,'filled')           %Actual Position 
+%scatter3(Data(2,1),Data(2,2),Data(2,3), 200,'x','red')     %Starting Postion 
+%
+%scatter3(xfit,zfit,yfit,10,'filled','blue')    %Calculated Position
+%patch([5.02 -5.02 -5.02 5.02], [11.88 11.88 -11.88 -11.88], [0 0 0 0],'Green') %Tennis Court Plane
+%scatter3([15 15 -15 -15 15 15 -15 -15],[15 -15 15 -15 15 -15 15 -15],[-1 -1 -1 -1 TOP_CAM_H TOP_CAM_H TOP_CAM_H TOP_CAM_H],1,'x'); %Corrners 
+%
+%xlabel("Unity X")
+%ylabel("Unity Z")
+%zlabel("Unity Y")
+%
+%hold off
+
+
+%Close Gracefully
+fprintf(1,"Disconnected from server\n");

Server.cs

@@ -0,0 +1,298 @@
+using System;
+using System.Net.Sockets;
+using System.Text;
+using System.Collections;
+using System.Collections.Generic;
+using System.Threading;
+using UnityEngine;
+using System.Net;
+using System.IO;
+
+public class Server : MonoBehaviour {
+  //General Init
+  private List<ServerClient> clients;
+  private List<int> disconnectIndex;
+
+  //Camera Variables
+  private GameObject MainCam;
+  RenderTexture CameraRender;
+  byte[] EncodedPng;
+  int Height;
+  int Width;
+  bool ScreenshotDone;
+
+  /////////////////////////////////////////////////////////////////////////////
+  // main GUI components that appear for the user.
+  /////////////////////////////////////////////////////////////////////////////
+  [Header("Server Settings")]
+  public int Port = 55001;
+  private TcpListener server;
+  private bool serverStarted;
+
+  [Header("Game Object Settings")]
+  public string ObjectName = "";
+  //public Vector2 Resolution = new Vector2();
+  /////////////////////////////////////////////////////////////////////////////
+  
+  // Use this for initialization
+  void Start () {
+    clients = new List<ServerClient>();
+    disconnectIndex = new List<int>();
+
+    try {
+      server = new TcpListener(IPAddress.Any, Port);
+      server.Start();
+
+      Startlistening();
+      serverStarted = true;
+      Debug.Log("Server has started on port:" + Port.ToString());
+    }
+    catch (Exception e) {
+      Debug.Log("Socket Error " + e.Message);
+    }
+
+    InvokeRepeating("UpdateLoop", 0f, 0.003f);  
+  }
+
+  private void UpdateLoop(){
+    if(this.MainCam == null)
+      this.MainCam = GameObject.Find("cameraTop");
+
+    if (!serverStarted)
+      return;
+    if(clients.Count == 0)
+      return;
+
+    for(int c = 0; c < clients.Count; c++ ) {
+      //Check if clients are connected
+      if(!isConnected(clients[c].tcp)) {
+        clients[c].tcp.Close();
+        disconnectIndex.Add(c);
+        Debug.Log(clients[c].clientName + " has disconnected from the server");
+        continue;
+      }
+      // Check for data from client
+      else {
+        float[] myFloat = new float[8];
+        NetworkStream s = clients[c].tcp.GetStream();
+        if (s.DataAvailable) {
+          byte[] RecievedString = new byte[sizeof(float)*8];
+
+          if (RecievedString != null){
+            s.Read(RecievedString, 0, sizeof(float)*8);
+            myFloat = ConvertBytes2Float(RecievedString);
+
+            moveCamera(myFloat);
+                      
+            StartCoroutine(SendCamCapture(clients[c], MainCam.GetComponent<Camera>(), myFloat[0].ToString(), myFloat[1].ToString()));
+          }
+          s.Flush();
+        }    
+      }
+    }
+
+    //Clean up Disconnected Clients
+    for(int i = 0; i < disconnectIndex.Count; i++) {
+      clients.RemoveAt(disconnectIndex[i]);
+    }
+    disconnectIndex.Clear();
+  }
+
+  private byte[] ConvertFloat2Bytes(float[] FloatArray){
+    var byteArray = new byte[FloatArray.Length * sizeof(float)];
+    Buffer.BlockCopy(FloatArray, 0, byteArray, 0, byteArray.Length);
+    return byteArray;
+  }
+
+  private float[] ConvertBytes2Float(byte[] byteArray){
+    var floatArray = new float[byteArray.Length / sizeof(float)];
+    Buffer.BlockCopy(byteArray, 0, floatArray, 0, byteArray.Length);
+    return floatArray;
+  }
+
+  //Checks if client is connected
+  private bool isConnected(TcpClient c){
+    try {
+      if(c != null && c.Client != null && c.Client.Connected){ //Makes sure the client is connected
+        if(c.Client.Poll(0, SelectMode.SelectRead)){         //Polls the Client for activity
+          return !(c.Client.Receive(new byte[1], SocketFlags.Peek) == 0); //Checks for response
+        }
+        return true;
+      }
+      else
+        return false;
+    }
+    catch {
+      return false;
+    }
+  }
+  
+  //Begins connection with client
+  private void AcceptServerClient(IAsyncResult ar){
+    TcpListener listener = (TcpListener)ar.AsyncState;
+    ServerClient NewClient = new ServerClient(listener.EndAcceptTcpClient(ar), null);
+    Debug.Log("Someone has connected");
+    clients.Add(NewClient);
+    Startlistening();
+  }
+
+  //Starts listening on server socket
+  private void Startlistening(){
+    server.BeginAcceptTcpClient(AcceptServerClient, server);
+  }
+
+  //Try to close all the connections gracefully
+  void OnApplicationQuit(){
+    for (int i = 0; i < clients.Count; i++){
+      try{
+        clients[i].tcp.GetStream().Close();
+        clients[i].tcp.Close();
+      }
+      catch { }
+    }
+    Debug.Log("Connections Closed");
+  }
+
+  //Sends out data
+  public void OutgoingData(ServerClient c, byte[] data){
+    NetworkStream ClientStream = c.tcp.GetStream();
+    try{
+      ClientStream.Write(data, 0, data.Length);
+    }
+    catch (Exception e) {
+      Debug.LogError("Could not write to client.\n Error:" + e);
+    }
+  }
+
+  // Matlab used NED right-handed coordinate system
+  // +x forward [optical axis]
+  // +y right
+  // +z down
+
+  // Unity uses a wild left-handed coordinate system
+  // +x right
+  // +y up
+  // +z forward [optical axis]
+  
+  //               matlab    unity
+  // forward         x        z
+  // right           y        x
+  // down            z        -y
+  
+  private void moveCamera(float[] pose){
+	float x_rot = pose[7];
+	
+	if(x_rot == 0)
+	{
+		ObjectName = "cameraTop";
+		this.MainCam = GameObject.Find("cameraTop");
+	}
+	else if(x_rot == 1)
+	{
+		ObjectName = "cameraSide";
+	    this.MainCam = GameObject.Find("cameraSide");
+	}
+	else
+	{
+		ObjectName = "TennisBall";		
+	}
+	  
+    GameObject ClientObj = GameObject.Find(ObjectName);
+    // x,y,z,yaw[z],pitch[y],roll[x]
+    float x_trans = pose[2];
+    float y_trans = pose[3];
+    float z_trans = pose[4];
+    float z_rot = pose[5];
+    float y_rot = pose[6];
+
+    
+	Debug.Log("hello:" + x_trans);
+    //Vector3 matlabTranslate = new Vector3(y_trans, -z_trans, x_trans);
+	//Vector3 matlabTranslate = new Vector3(x_trans, y_trans, z_trans);
+    // perform translation
+    //ClientObj.transform.position = transform.TransformVector(matlabTranslate);
+    
+	//ClientObj.transform.position = ClientObj.transform.position + new Vector3(x_trans, y_trans, z_trans);
+	if(ObjectName == "TennisBall")
+	{
+		ClientObj.transform.position = new Vector3(x_trans, y_trans, z_trans);
+	
+		
+		//  perform rotation in yaw, pitch, roll order while converting to left hand coordinate system.
+		ClientObj.transform.rotation = Quaternion.AngleAxis(z_rot, Vector3.up) *       // yaw [z]
+									Quaternion.AngleAxis(-y_rot, Vector3.right)*    // pitch [y]
+									Quaternion.AngleAxis(0, Vector3.forward);  // roll [x]
+									
+	}
+  }
+  
+  //Organizes and Sends Picture
+  IEnumerator SendCamCapture(ServerClient c, Camera CameraSelect, string Width, string Height){
+    CaptureImage(CameraSelect, int.Parse(Width), int.Parse(Height));
+    while (!this.CaptureDone()){
+      yield return null;
+    } 
+    OutgoingData(c, this.ReturnCaptureBytes());
+    Debug.Log("Captured Image");
+  }
+
+  IEnumerator GetRender(Camera cam){
+    this.CameraRender = new RenderTexture(this.Width, this.Height, 16);
+    cam.enabled = true;
+    cam.targetTexture = CameraRender;
+    Texture2D tempTex = new Texture2D(CameraRender.width, CameraRender.height, TextureFormat.RGB24, false);
+    cam.Render();
+    RenderTexture.active = CameraRender;//Sets the Render
+    tempTex.ReadPixels(new Rect(0, 0, CameraRender.width, CameraRender.height), 0, 0);
+    tempTex.Apply();
+    EncodedPng = tempTex.GetRawTextureData();
+    Destroy(tempTex);
+    yield return null;
+    CameraRender.Release();
+    cam.targetTexture = null;
+    ScreenshotDone = true;
+  }
+
+  public void CaptureImage(Camera SelectedCamera, int UsrWidth, int UsrHeight){
+    ScreenshotDone = false;
+    this.Width = UsrWidth;
+    this.Height = UsrHeight;
+
+    if (SelectedCamera != null){
+        StartCoroutine(GetRender(SelectedCamera));
+    }
+  }
+
+  public int GetWidth(){
+    return this.Width;
+  }
+
+  public int GetHeight(){
+    return this.Height;
+  }
+
+  public bool CaptureDone(){
+    return ScreenshotDone;
+  }
+
+  public byte[] ReturnCaptureBytes(){
+    return EncodedPng;
+  }
+
+  IEnumerator SerializeCapture(ServerClient c, byte[] PixelData, int Width, int Length){
+    OutgoingData(c, PixelData);
+    yield return null;
+  }
+}
+
+public class ServerClient {
+  public TcpClient tcp;
+  public string clientName;
+  public List<GameObject> ClientObj;
+
+  public ServerClient(TcpClient clientSocket, string Name) {
+    clientName = Name;
+    tcp = clientSocket;
+    ClientObj = new List<GameObject>();
+  }
+}

find3DOrthogonal.m

@@ -0,0 +1,50 @@
+function [y_comp,x_comp,h_ball] = find3DOrthogonal(top_ball_x_px, top_ball_y_px, side_ball_x_px, side_ball_y_px)
+   % constants
+ 
+   TOP_CAM_H = 13;
+   TOP_CAM_FOV_H = 90;
+   TOP_CAM_FOV_V = 58.70567;
+   TOP_CAM_IMG_W = 3840;
+   TOP_CAM_IMG_H = 2160;
+
+    SIDE_CAM_H = .6;
+    SIDE_CAM_Y = 9.5;
+    SIDE_CAM_FOV_H = 133.1735;
+    SIDE_CAM_FOV_V = 120;
+    SIDE_CAM_IMG_W = 3840;
+    SIDE_CAM_IMG_H = 2160;
+
+
+   %Calculations% x position
+   theta_x = (top_ball_x_px - (TOP_CAM_IMG_W / 2)) * (TOP_CAM_FOV_H / TOP_CAM_IMG_W);
+   x_ball = TOP_CAM_H * tand(theta_x);
+   
+   % y position
+   theta_y = (top_ball_y_px - (TOP_CAM_IMG_H / 2)) * (TOP_CAM_FOV_V / TOP_CAM_IMG_H);
+   y_ball = TOP_CAM_H * tand(theta_y);
+   
+   % height
+   theta_h = ((SIDE_CAM_IMG_H / 2) - side_ball_y_px) * (SIDE_CAM_FOV_V / SIDE_CAM_IMG_H);
+   h_ball = (SIDE_CAM_H + (tand(theta_h) * (SIDE_CAM_Y - y_ball))) / (1 - (y_ball*tand(theta_h) / TOP_CAM_H));
+
+   
+   % x & y positions compensated based on height
+   x_comp = x_ball * (1 - (h_ball / TOP_CAM_H));
+   
+   y_comp = y_ball * (1 - (h_ball / TOP_CAM_H)); % THIS ONE
+
+%x_comp =x_ball;
+%y_comp = y_ball;
+
+   h_ball = h_ball - .2;
+   h_error = .38*h_ball;
+   h_ball = h_ball + h_error;
+   h_error = .16*h_ball;
+   h_ball = h_ball + h_error;
+
+end
+
+
+%TODO
+% 1) take out rgb2grey and find circle with rgb image
+% 2) figure out how are calculated based on camera as refences

serves/serve1.dat

@@ -0,0 +1,475 @@
+-3.115 3 -11.285
+-3.11 2.994 -11.225
+-3.105 2.988 -11.165
+-3.1 2.982 -11.105
+-3.095 2.9759 -11.045
+-3.09 2.9699 -10.985
+-3.085 2.9638 -10.925
+-3.08 2.9578 -10.865
+-3.075 2.9517 -10.805
+-3.07 2.9456 -10.745
+-3.065 2.9395 -10.685
+-3.06 2.9334 -10.625
+-3.055 2.9273 -10.565
+-3.05 2.9212 -10.505
+-3.045 2.915 -10.445
+-3.04 2.9089 -10.385
+-3.035 2.9027 -10.325
+-3.03 2.8966 -10.265
+-3.025 2.8904 -10.205
+-3.02 2.8842 -10.145
+-3.015 2.878 -10.085
+-3.01 2.8718 -10.025
+-3.005 2.8656 -9.965
+-3 2.8594 -9.905
+-2.995 2.8532 -9.845
+-2.99 2.8469 -9.7849
+-2.985 2.8407 -9.7249
+-2.98 2.8344 -9.6649
+-2.975 2.8281 -9.6049
+-2.97 2.8219 -9.5449
+-2.965 2.8156 -9.4849
+-2.96 2.8093 -9.4249
+-2.955 2.803 -9.3649
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+-2.93 2.7713 -9.0649
+-2.925 2.7649 -9.0049
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+-2.9 2.7329 -8.7049
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+-2.89 2.7201 -8.5849
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+-2.875 2.7007 -8.4049
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+-2.86 2.6812 -8.2249
+-2.855 2.6747 -8.1649
+-2.85 2.6682 -8.1049
+-2.845 2.6617 -8.0449
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+-2.83 2.6421 -7.8649
+-2.825 2.6355 -7.8049
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+-2.815 2.6223 -7.6849
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+-2.8 2.6025 -7.5049
+-2.795 2.5959 -7.4449
+-2.79 2.5893 -7.3849
+-2.785 2.5826 -7.3249
+-2.78 2.576 -7.2649
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+-2.765 2.5559 -7.0849
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+-2.735 2.5157 -6.7248
+-2.73 2.5089 -6.6648
+-2.725 2.5021 -6.6048
+-2.72 2.4954 -6.5448
+-2.715 2.4886 -6.4848
+-2.71 2.4818 -6.4248
+-2.705 2.475 -6.3648
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+-1.2336 0.9629 15.2036
+-1.2386 0.9672 15.2437
+-1.2436 0.9715 15.2837
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+-1.2586 0.9844 15.4037
+-1.2636 0.9887 15.4437
+-1.2686 0.9929 15.4837
+-1.2736 0.9972 15.5237
+-1.2786 1.0014 15.5637
+-1.2836 1.0057 15.6037
+-1.2886 1.0099 15.6437
+-1.2936 1.0141 15.6837
+-1.2986 1.0183 15.7237
+-1.3036 1.0225 15.7637
+-1.3086 1.0267 15.8037
+-1.3136 1.0309 15.8437
+-1.3186 1.0351 15.8837
+-1.3236 1.0392 15.9237
+-1.3286 1.0434 15.9637
+-1.3336 1.0475 16.0037
+-1.3386 1.0516 16.0437
+-1.3436 1.0558 16.0837
+-1.3486 1.0599 16.1237
+-1.3536 1.064 16.1637
+-1.3586 1.0681 16.2037
+-1.3636 1.0721 16.2437
+-1.3686 1.0762 16.2837
+-1.3736 1.0803 16.3237
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+-1.3836 1.0884 16.4037
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+-1.3936 1.0964 16.4837
+-1.3986 1.1004 16.5237
+-1.4036 1.1044 16.5637
+-1.4086 1.1084 16.6037
+-1.4136 1.1124 16.6437
+-1.4186 1.1164 16.6837
+-1.4236 1.1203 16.7237
+-1.4286 1.1243 16.7637
+-1.4336 1.1282 16.8037
+-1.4386 1.1322 16.8437
+-1.4436 1.1361 16.8837
+-1.4486 1.14 16.9237
+-1.4536 1.1439 16.9637
+-1.4586 1.1478 16.985
+-1.4586 1.1478 16.985
+-1.4586 1.1478 16.985
+-1.4586 1.1478 16.985
+-1.4586 1.1478 16.985

serves/serveY_X0_Z1.dat

@@ -0,0 +1,109 @@
+0	1	-11.88
+0	1	-11.66
+0	1	-11.44
+0	1	-11.22
+0	1	-11
+0	1	-10.78
+0	1	-10.56
+0	1	-10.34
+0	1	-10.12
+0	1	-9.9
+0	1	-9.68
+0	1	-9.46
+0	1	-9.24
+0	1	-9.02
+0	1	-8.8
+0	1	-8.58
+0	1	-8.36
+0	1	-8.14
+0	1	-7.92
+0	1	-7.7
+0	1	-7.48
+0	1	-7.26
+0	1	-7.04
+0	1	-6.82
+0	1	-6.6
+0	1	-6.38
+0	1	-6.16
+0	1	-5.94
+0	1	-5.72
+0	1	-5.5
+0	1	-5.28
+0	1	-5.06
+0	1	-4.84
+0	1	-4.62
+0	1	-4.4
+0	1	-4.18
+0	1	-3.96
+0	1	-3.74
+0	1	-3.52
+0	1	-3.3
+0	1	-3.08
+0	1	-2.86
+0	1	-2.64
+0	1	-2.42
+0	1	-2.2
+0	1	-1.98
+0	1	-1.76
+0	1	-1.54
+0	1	-1.32
+0	1	-1.1
+0	1	-0.88
+0	1	-0.66
+0	1	-0.44
+0	1	-0.22
+0	1	0
+0	1	0.22
+0	1	0.44
+0	1	0.66
+0	1	0.88
+0	1	1.1
+0	1	1.32
+0	1	1.54
+0	1	1.76
+0	1	1.98
+0	1	2.2
+0	1	2.42
+0	1	2.64
+0	1	2.86
+0	1	3.08
+0	1	3.3
+0	1	3.52
+0	1	3.74
+0	1	3.96
+0	1	4.18
+0	1	4.4
+0	1	4.62
+0	1	4.84
+0	1	5.06
+0	1	5.28
+0	1	5.5
+0	1	5.72
+0	1	5.94
+0	1	6.16
+0	1	6.38
+0	1	6.6
+0	1	6.82
+0	1	7.04
+0	1	7.26
+0	1	7.48
+0	1	7.7
+0	1	7.92
+0	1	8.14
+0	1	8.36
+0	1	8.58
+0	1	8.8
+0	1	9.02
+0	1	9.24
+0	1	9.46
+0	1	9.68
+0	1	9.9
+0	1	10.12
+0	1	10.34
+0	1	10.56
+0	1	10.78
+0	1	11
+0	1	11.22
+0	1	11.44
+0	1	11.66
+0	1	11.88

serves/serveY_X0_Z3.dat

@@ -0,0 +1,109 @@
+0	3	-11.88
+0	3	-11.66
+0	3	-11.44
+0	3	-11.22
+0	3	-11
+0	3	-10.78
+0	3	-10.56
+0	3	-10.34
+0	3	-10.12
+0	3	-9.9
+0	3	-9.68
+0	3	-9.46
+0	3	-9.24
+0	3	-9.02
+0	3	-8.8
+0	3	-8.58
+0	3	-8.36
+0	3	-8.14
+0	3	-7.92
+0	3	-7.7
+0	3	-7.48
+0	3	-7.26
+0	3	-7.04
+0	3	-6.82
+0	3	-6.6
+0	3	-6.38
+0	3	-6.16
+0	3	-5.94
+0	3	-5.72
+0	3	-5.5
+0	3	-5.28
+0	3	-5.06
+0	3	-4.84
+0	3	-4.62
+0	3	-4.4
+0	3	-4.18
+0	3	-3.96
+0	3	-3.74
+0	3	-3.52
+0	3	-3.3
+0	3	-3.08
+0	3	-2.86
+0	3	-2.64
+0	3	-2.42
+0	3	-2.2
+0	3	-1.98
+0	3	-1.76
+0	3	-1.54
+0	3	-1.32
+0	3	-1.1
+0	3	-0.88
+0	3	-0.66
+0	3	-0.44
+0	3	-0.22
+0	3	0
+0	3	0.22
+0	3	0.44
+0	3	0.66
+0	3	0.88
+0	3	1.1
+0	3	1.32
+0	3	1.54
+0	3	1.76
+0	3	1.98
+0	3	2.2
+0	3	2.42
+0	3	2.64
+0	3	2.86
+0	3	3.08
+0	3	3.3
+0	3	3.52
+0	3	3.74
+0	3	3.96
+0	3	4.18
+0	3	4.4
+0	3	4.62
+0	3	4.84
+0	3	5.06
+0	3	5.28
+0	3	5.5
+0	3	5.72
+0	3	5.94
+0	3	6.16
+0	3	6.38
+0	3	6.6
+0	3	6.82
+0	3	7.04
+0	3	7.26
+0	3	7.48
+0	3	7.7
+0	3	7.92
+0	3	8.14
+0	3	8.36
+0	3	8.58
+0	3	8.8
+0	3	9.02
+0	3	9.24
+0	3	9.46
+0	3	9.68
+0	3	9.9
+0	3	10.12
+0	3	10.34
+0	3	10.56
+0	3	10.78
+0	3	11
+0	3	11.22
+0	3	11.44
+0	3	11.66
+0	3	11.88

serves/serveY_X2_Z1.dat

@@ -0,0 +1,109 @@
+2	1	-11.88
+2	1	-11.66
+2	1	-11.44
+2	1	-11.22
+2	1	-11
+2	1	-10.78
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+2	1	-10.34
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+2	1	-9.9
+2	1	-9.68
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+2	1	-9.24
+2	1	-9.02
+2	1	-8.8
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+2	1	-8.14
+2	1	-7.92
+2	1	-7.7
+2	1	-7.48
+2	1	-7.26
+2	1	-7.04
+2	1	-6.82
+2	1	-6.6
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+2	1	-6.16
+2	1	-5.94
+2	1	-5.72
+2	1	-5.5
+2	1	-5.28
+2	1	-5.06
+2	1	-4.84
+2	1	-4.62
+2	1	-4.4
+2	1	-4.18
+2	1	-3.96
+2	1	-3.74
+2	1	-3.52
+2	1	-3.3
+2	1	-3.08
+2	1	-2.86
+2	1	-2.64
+2	1	-2.42
+2	1	-2.2
+2	1	-1.98
+2	1	-1.76
+2	1	-1.54
+2	1	-1.32
+2	1	-1.1
+2	1	-0.88
+2	1	-0.66
+2	1	-0.44
+2	1	-0.22
+2	1	0
+2	1	0.22
+2	1	0.44
+2	1	0.66
+2	1	0.88
+2	1	1.1
+2	1	1.32
+2	1	1.54
+2	1	1.76
+2	1	1.98
+2	1	2.2
+2	1	2.42
+2	1	2.64
+2	1	2.86
+2	1	3.08
+2	1	3.3
+2	1	3.52
+2	1	3.74
+2	1	3.96
+2	1	4.18
+2	1	4.4
+2	1	4.62
+2	1	4.84
+2	1	5.06
+2	1	5.28
+2	1	5.5
+2	1	5.72
+2	1	5.94
+2	1	6.16
+2	1	6.38
+2	1	6.6
+2	1	6.82
+2	1	7.04
+2	1	7.26
+2	1	7.48
+2	1	7.7
+2	1	7.92
+2	1	8.14
+2	1	8.36
+2	1	8.58
+2	1	8.8
+2	1	9.02
+2	1	9.24
+2	1	9.46
+2	1	9.68
+2	1	9.9
+2	1	10.12
+2	1	10.34
+2	1	10.56
+2	1	10.78
+2	1	11
+2	1	11.22
+2	1	11.44
+2	1	11.66
+2	1	11.88

serves/serveY_X2_Z3.dat

@@ -0,0 +1,109 @@
+2	3	-11.88
+2	3	-11.66
+2	3	-11.44
+2	3	-11.22
+2	3	-11
+2	3	-10.78
+2	3	-10.56
+2	3	-10.34
+2	3	-10.12
+2	3	-9.9
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+2	3	-9.46
+2	3	-9.24
+2	3	-9.02
+2	3	-8.8
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+2	3	-8.36
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+2	3	-7.92
+2	3	-7.7
+2	3	-7.48
+2	3	-7.26
+2	3	-7.04
+2	3	-6.82
+2	3	-6.6
+2	3	-6.38
+2	3	-6.16
+2	3	-5.94
+2	3	-5.72
+2	3	-5.5
+2	3	-5.28
+2	3	-5.06
+2	3	-4.84
+2	3	-4.62
+2	3	-4.4
+2	3	-4.18
+2	3	-3.96
+2	3	-3.74
+2	3	-3.52
+2	3	-3.3
+2	3	-3.08
+2	3	-2.86
+2	3	-2.64
+2	3	-2.42
+2	3	-2.2
+2	3	-1.98
+2	3	-1.76
+2	3	-1.54
+2	3	-1.32
+2	3	-1.1
+2	3	-0.88
+2	3	-0.66
+2	3	-0.44
+2	3	-0.22
+2	3	0
+2	3	0.22
+2	3	0.44
+2	3	0.66
+2	3	0.88
+2	3	1.1
+2	3	1.32
+2	3	1.54
+2	3	1.76
+2	3	1.98
+2	3	2.2
+2	3	2.42
+2	3	2.64
+2	3	2.86
+2	3	3.08
+2	3	3.3
+2	3	3.52
+2	3	3.74
+2	3	3.96
+2	3	4.18
+2	3	4.4
+2	3	4.62
+2	3	4.84
+2	3	5.06
+2	3	5.28
+2	3	5.5
+2	3	5.72
+2	3	5.94
+2	3	6.16
+2	3	6.38
+2	3	6.6
+2	3	6.82
+2	3	7.04
+2	3	7.26
+2	3	7.48
+2	3	7.7
+2	3	7.92
+2	3	8.14
+2	3	8.36
+2	3	8.58
+2	3	8.8
+2	3	9.02
+2	3	9.24
+2	3	9.46
+2	3	9.68
+2	3	9.9
+2	3	10.12
+2	3	10.34
+2	3	10.56
+2	3	10.78
+2	3	11
+2	3	11.22
+2	3	11.44
+2	3	11.66
+2	3	11.88

serves/serveY_Xn2_Z1.dat

@@ -0,0 +1,109 @@
+-2	1	-11.88
+-2	1	-11.66
+-2	1	-11.44
+-2	1	-11.22
+-2	1	-11
+-2	1	-10.78
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+-2	1	-10.34
+-2	1	-10.12
+-2	1	-9.9
+-2	1	-9.68
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+-2	1	-9.24
+-2	1	-9.02
+-2	1	-8.8
+-2	1	-8.58
+-2	1	-8.36
+-2	1	-8.14
+-2	1	-7.92
+-2	1	-7.7
+-2	1	-7.48
+-2	1	-7.26
+-2	1	-7.04
+-2	1	-6.82
+-2	1	-6.6
+-2	1	-6.38
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+-2	1	-5.94
+-2	1	-5.72
+-2	1	-5.5
+-2	1	-5.28
+-2	1	-5.06
+-2	1	-4.84
+-2	1	-4.62
+-2	1	-4.4
+-2	1	-4.18
+-2	1	-3.96
+-2	1	-3.74
+-2	1	-3.52
+-2	1	-3.3
+-2	1	-3.08
+-2	1	-2.86
+-2	1	-2.64
+-2	1	-2.42
+-2	1	-2.2
+-2	1	-1.98
+-2	1	-1.76
+-2	1	-1.54
+-2	1	-1.32
+-2	1	-1.1
+-2	1	-0.88
+-2	1	-0.66
+-2	1	-0.44
+-2	1	-0.22
+-2	1	0
+-2	1	0.22
+-2	1	0.44
+-2	1	0.66
+-2	1	0.88
+-2	1	1.1
+-2	1	1.32
+-2	1	1.54
+-2	1	1.76
+-2	1	1.98
+-2	1	2.2
+-2	1	2.42
+-2	1	2.64
+-2	1	2.86
+-2	1	3.08
+-2	1	3.3
+-2	1	3.52
+-2	1	3.74
+-2	1	3.96
+-2	1	4.18
+-2	1	4.4
+-2	1	4.62
+-2	1	4.84
+-2	1	5.06
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+-2	1	5.5
+-2	1	5.72
+-2	1	5.94
+-2	1	6.16
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+-2	1	6.6
+-2	1	6.82
+-2	1	7.04
+-2	1	7.26
+-2	1	7.48
+-2	1	7.7
+-2	1	7.92
+-2	1	8.14
+-2	1	8.36
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+-2	1	8.8
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+-2	1	9.46
+-2	1	9.68
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+-2	1	10.12
+-2	1	10.34
+-2	1	10.56
+-2	1	10.78
+-2	1	11
+-2	1	11.22
+-2	1	11.44
+-2	1	11.66
+-2	1	11.88

serves/serveY_Xn2_Z3.dat

@@ -0,0 +1,109 @@
+-2	3	-11.88
+-2	3	-11.66
+-2	3	-11.44
+-2	3	-11.22
+-2	3	-11
+-2	3	-10.78
+-2	3	-10.56
+-2	3	-10.34
+-2	3	-10.12
+-2	3	-9.9
+-2	3	-9.68
+-2	3	-9.46
+-2	3	-9.24
+-2	3	-9.02
+-2	3	-8.8
+-2	3	-8.58
+-2	3	-8.36
+-2	3	-8.14
+-2	3	-7.92
+-2	3	-7.7
+-2	3	-7.48
+-2	3	-7.26
+-2	3	-7.04
+-2	3	-6.82
+-2	3	-6.6
+-2	3	-6.38
+-2	3	-6.16
+-2	3	-5.94
+-2	3	-5.72
+-2	3	-5.5
+-2	3	-5.28
+-2	3	-5.06
+-2	3	-4.84
+-2	3	-4.62
+-2	3	-4.4
+-2	3	-4.18
+-2	3	-3.96
+-2	3	-3.74
+-2	3	-3.52
+-2	3	-3.3
+-2	3	-3.08
+-2	3	-2.86
+-2	3	-2.64
+-2	3	-2.42
+-2	3	-2.2
+-2	3	-1.98
+-2	3	-1.76
+-2	3	-1.54
+-2	3	-1.32
+-2	3	-1.1
+-2	3	-0.88
+-2	3	-0.66
+-2	3	-0.44
+-2	3	-0.22
+-2	3	0
+-2	3	0.22
+-2	3	0.44
+-2	3	0.66
+-2	3	0.88
+-2	3	1.1
+-2	3	1.32
+-2	3	1.54
+-2	3	1.76
+-2	3	1.98
+-2	3	2.2
+-2	3	2.42
+-2	3	2.64
+-2	3	2.86
+-2	3	3.08
+-2	3	3.3
+-2	3	3.52
+-2	3	3.74
+-2	3	3.96
+-2	3	4.18
+-2	3	4.4
+-2	3	4.62
+-2	3	4.84
+-2	3	5.06
+-2	3	5.28
+-2	3	5.5
+-2	3	5.72
+-2	3	5.94
+-2	3	6.16
+-2	3	6.38
+-2	3	6.6
+-2	3	6.82
+-2	3	7.04
+-2	3	7.26
+-2	3	7.48
+-2	3	7.7
+-2	3	7.92
+-2	3	8.14
+-2	3	8.36
+-2	3	8.58
+-2	3	8.8
+-2	3	9.02
+-2	3	9.24
+-2	3	9.46
+-2	3	9.68
+-2	3	9.9
+-2	3	10.12
+-2	3	10.34
+-2	3	10.56
+-2	3	10.78
+-2	3	11
+-2	3	11.22
+-2	3	11.44
+-2	3	11.66
+-2	3	11.88

unityLink.m

@@ -0,0 +1,21 @@
+function image = unityLink(TCP_Handle,pose)
+% x,y,z,yaw[z],pitch[y],roll[x]
+
+width  = 3840; %480
+height = 2160; %752
+
+x = pose(1);
+y = pose(2);
+z = pose(3);
+yaw = pose(4);
+pitch = pose(5);
+roll = pose(6);
+
+%Set Position
+write(TCP_Handle,single([width,height,x,y,z,yaw,pitch,roll]));
+
+%Get image data
+data = read(TCP_Handle,width*height*3);
+
+temp = reshape(data,[3,width*height]);
+image = imrotate(reshape(temp',[width,height,3]),90);