Utility extensions

static class extension helpers

This page groups the SDK's broadly-used helper types: the Extensions static class (identification, camera-info accessors, Core↔Unity math conversion, logging) and four standalone utilities — ObjectFieldExtensions, TextureExtensions, AnimationTimer, and BiDictionary<T1,T2>.

Units

All spatial conversions on this page are in meters (Unity world-space). The ToUnity/ToCore helpers convert between AR 51 Core math types and Unity types without rescaling — both sides are meters.

Extensions

static class

public static class Extensions

Namespace: AR51.Unity.SDK

The SDK's broadly-used extension helpers. This page documents the members app developers call: skeleton identification, camera-info accessors, Core↔Unity math conversion, and logging. Array/marshalling helpers (ToArray, ToVector3, ToMatrix4x4, ToVector3Array, ToMatrix4x4Array, EfficientReverse, ReadExact, …) are also public but are low-level transport plumbing.

IsIdentified

methodstaticextension

public static bool IsIdentified(this SkeletonReply skeletonReply);

Returns true when the skeleton has been matched to a known entity — i.e. its EntityId is non-null, non-empty, and not "-1". Use it to filter to recognized people; SkeletonConsumer's IgnoreUnidentified uses this internally.

Returnsbooltrue if the skeleton is matched to a known entity

Exampleinferred

// Only react to recognized people
if (skeletonReply.IsIdentified())
    DoSomethingWith(skeletonReply.EntityId);

GetEndpoint

methodstaticextension

public static string GetEndpoint(this ComponentDescriptor c);

Formats a component descriptor's address as "ip:port" — the string form the services connect with.

Returnsstringthe endpoint as "ip:port"

Camera-info accessors

methodstaticextension

public static Matrix4x4 GetIntrisic(this CvsCameraInfo info);     // intrinsic 4x4
public static Matrix4x4 GetExtrinsic(this CvsCameraInfo info);    // extrinsic (world pose), handedness-corrected
public static float     GetVerticalFOV(this CvsCameraInfo info);  // degrees
public static float     GetHorizontalFOV(this CvsCameraInfo info);// degrees

Derive the usable camera matrices and field-of-view from a CvsCameraInfo. GetExtrinsic returns the camera's world pose with handedness already corrected for Unity; the FOV accessors return degrees.

Core ↔ Unity conversion

methodstaticextension

// Core → Unity (positions in meters)
public static Vector3    ToUnity(this AR51.Mocap.Filters.Double3 v);  // meters, double→float
public static Color      ToUnity(this Core.Color color);
public static Vector2    ToUnity(this Core.Vector2 v);
public static Vector3    ToUnity(this Core.Vector3 v);
public static Quaternion ToUnity(this Core.Quaternion v);
public static Bounds     ToUnity(this Bound2D bounds);

// Unity → Core
public static Core.Color      ToCore(this Color c);
public static Core.Vector2    ToCore(this Vector2 v);
public static Core.Vector3    ToCore(this Vector3 v);
public static Core.Vector4    ToCore(this Vector4 v);
public static Core.Quaternion ToCore(this Quaternion q);

// Color helpers
public static Color Parse(this Color _, string colorName);  // named CSS-ish colors → Color (Color.clear if unknown)
public static Color FromUInt(this Color _, uint hex);       // 0xAARRGGBB → Color

Convert between AR 51 Core math types and Unity types. Positions are in meters on both sides — no rescaling is applied. Parse maps a named color (returning Color.clear if the name is unknown); FromUInt builds a color from a packed 0xAARRGGBB value.

Exampleinferred

// Core mocap position → Unity world-space (meters)
Vector3 wrist = coreWrist.ToUnity();

// Packed hex → Color
Color accent = default(Color).FromUInt(0xFF33AAFF);   // ARGB

Log / LogWarning / LogError

methodstaticextension

public static void Log(this object sender, string msg, /* [Caller*] */ ...);
public static void LogWarning(this object sender, string msg, ...);
public static void LogError(this object sender, string msg, ...);
public static void Log(this MonoBehaviour sender, string msg, ...);

Context-aware logging extensions. They auto-prefix each message with File.Method[line] (captured via [Caller*] attributes) — prefer them over hand-written context strings. Available on any object (and a MonoBehaviour overload).

Exampleinferred

this.Log("connected");          // → "MyBehaviour.Start[42] connected"
this.LogError("stream dropped");

ObjectFieldExtensions

static class

public static class ObjectFieldExtensions

Namespace: AR51.Unity.SDK

Reflection get/set of a field or property by name. Includes non-public members by default (DefaultFlags = BindingFlags.NonPublic | BindingFlags.Public).

public const BindingFlags DefaultFlags = BindingFlags.NonPublic | BindingFlags.Public;
public static T    GetValue<T>(this object owner, string fieldName, BindingFlags flags = DefaultFlags);
public static void SetValue(this object owner, string fieldName, object value, BindingFlags flags = DefaultFlags);

⚠️ GetValue returns default(T) if the member isn't found (no exception); SetValue logs a warning on failure. Reflection-based access is for advanced/interop scenarios — prefer the typed API where one exists.

Exampleinferred

// Read a private field by name
float smoothing = consumer.GetValue<float>("_smoothingFactor");
consumer.SetValue("_smoothingFactor", 0.9f);

TextureExtensions

static class

public static class TextureExtensions

Namespace: AR51.Unity.SDK

GPU-assisted texture resampling and JPG encoding.

public static Texture2D Resample(this Texture source, int width, int height,
    TextureFormat textureFormat = TextureFormat.RGBA32, bool mipChain = true, bool linear = false);
public static Texture2D ResampleTo(this Texture source, Texture2D target, RenderTexture renderTexture = null);
public static byte[]    EncodeToJPG(this Texture source, ref Texture2D target, int width, int height, int quality = 70);

width/height are in pixels; quality is 0–100 (default 70). Resample returns a new Texture2D; ResampleTo blits into an existing target. EncodeToJPG resizes (clamped to the source dimensions) into target and returns the JPG bytes.

Exampleinferred

// Resize a camera frame and encode at quality 85
Texture2D thumb = null;
byte[] jpg = cameraFrame.EncodeToJPG(ref thumb, 640, 360, quality: 85);

AnimationTimer

class

public class AnimationTimer

Namespace: AR51.Unity.SDK

A lightweight fixed-duration timer driven by Time.time. Construct it with a duration in seconds, then poll Factor/SmoothFactor each frame to drive an animation.

Member	Type	Description
StartTime	float	capture time when the timer was created (seconds), read-only
Duration	float	configured duration in seconds, read-only
ElapsedTime	float	seconds since StartTime
Factor	float	linear progress, 0–1
SmoothFactor	float	smoothstep progress, 0–1
IsRunning	bool	true while ElapsedTime < Duration

public AnimationTimer(float duration);   // duration in seconds

Exampleinferred

var fade = new AnimationTimer(0.5f);   // half-second fade
// ...each frame:
material.color = Color.Lerp(from, to, fade.SmoothFactor);
if (!fade.IsRunning) { /* done */ }

BiDictionary<T1,T2>

BiDictionary<T1,T2> global namespace

public class BiDictionary<T1, T2> : IDictionary<T1, T2>

Namespace: global (no namespace)

A bidirectional dictionary: look up by key in either direction. Implements IDictionary<T1,T2> plus mirrored overloads keyed by T2. Both the key and the value must be unique — each side is a real dictionary.

public T2 this[T1 key] { get; set; }
public T1 this[T2 key] { get; set; }
public void Add(T1 key, T2 value);              // (+ T2 / KeyValuePair overloads, both directions)
public bool ContainsKey(T1 key);  public bool ContainsKey(T2 key);
public bool TryGetValue(T1 key, out T2 value);  public bool TryGetValue(T2 key, out T1 value);
public bool Remove(T1 key);  public bool Remove(T2 key);
public ICollection<T1> Keys { get; }  public ICollection<T2> Values { get; }
public int Count { get; }  public bool IsReadOnly { get; }
public void Clear();

⚠️ Because both sides are unique dictionaries, T1 and T2 should be distinct types — otherwise the overloads keyed by T1 vs T2 are ambiguous to the compiler.

Exampleinferred

var map = new BiDictionary<string, int>();
map.Add("alice", 1);
int id   = map["alice"];   // forward
string n = map[1];          // reverse

See also

• SkeletonConsumer — uses IsIdentified internally for IgnoreUnidentified
• CameraFeedClient — owns the CvsCameraInfo the camera accessors read from
• ServiceManager — resolves the ComponentDescriptor whose endpoint GetEndpoint formats
• Recording & playback — keyframe utilities in the same area
• Class index — all Unity SDK types