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ta9ma12ta9ma12
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fix topic name and optimization
1 parent 7ecb590 commit d7543f0

14 files changed

Lines changed: 212 additions & 177 deletions

‎Assets/Scenes/SampleScene.unity‎

Lines changed: 66 additions & 31 deletions
Original file line numberDiff line numberDiff line change
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far clip plane: 1000
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field of view: 34
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orthographic: 1
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orthographic size: 4.4739757
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‎Assets/Scripts/CameraSizeSetter.cs‎

Lines changed: 39 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,39 @@
1+
using System.Collections;
2+
using System.Collections.Generic;
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using UnityEngine;
4+
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[ExecuteAlways, RequireComponent(typeof(Camera))]
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public class CameraSizeSetter : MonoBehaviour
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{
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[SerializeField] Vector2 targetResolution;
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[SerializeField] float targetCameraSize;
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[SerializeField] bool isUpdate;
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Camera _camera;
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//--------------------------------------------------
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void Awake()
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{
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_camera = GetComponent<Camera>();
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SetCameraSize();
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}
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void Update()
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{
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if (isUpdate) {
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SetCameraSize();
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}
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}
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void SetCameraSize()
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{
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var targetRatio = targetResolution.y / targetResolution.x;
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var currentRatio = (float)Screen.height / (float)Screen.width;
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var targetSize = (targetCameraSize * currentRatio) / targetRatio;
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_camera.orthographicSize = targetSize;
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}
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}

‎Assets/Scripts/CameraSizeSetter.cs.meta‎

Lines changed: 2 additions & 0 deletions
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‎Assets/Scripts/HoldManager.cs‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -27,7 +27,7 @@ void Start()
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{
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ros2Node = ros2Unity.CreateNode("UnityHoldManagerNode");
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// /upper_hand/depthトピックにパブリッシュするように修正
30-
hold_depth_pub = ros2Node.CreatePublisher<std_msgs.msg.Float32>("/upper_hand/depth");
30+
hold_depth_pub = ros2Node.CreatePublisher<std_msgs.msg.Float32>("/phone/upper_hand/depth");
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}
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}
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else

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