GHZClassSDKXR/Samples~/ShadowCreator/NXRSlam/Scripts/NxrSensor.cs

using Assets.NXR.Scripts.Slam;
using UnityEngine;

public class NxrSensor
{
    private static object syncRoot = new object();
    private static NxrSensor _instance = null;

    public static NxrSensor Instance
    {
        get
        {
            if (_instance == null)
            {
                lock (syncRoot)
                {
                    if (_instance == null)
                    {
                        _instance = new NxrSensor();
                    }
                }
            }

            return _instance;
        }
    }

    private AndroidJavaClass nxrSensorClass;
    private AndroidJavaObject nxrSensorInstance;
    private AndroidJavaClass nxrSensorProClass;
    private AndroidJavaObject nxrSensorProInstance;
    private AndroidJavaClass xvGestureTypeClass;
    private AndroidJavaClass rawDataTypeClass;
    private AndroidJavaClass rgbResolutionClass;
    private AndroidJavaClass tofFPSClass;
    private AndroidJavaClass tofStreamModeClass;
    private AndroidJavaClass distanceModeClass;
    private AndroidJavaClass thermalModeClass;
    private AndroidJavaClass planeTypeClass;
    private AndroidJavaClass xvLogLevelClass;

    public NxrSensor()
    {
#if UNITY_ANDROID
        if (nxrSensorClass == null)
        {
            nxrSensorClass = new AndroidJavaClass("ruiyue.nxrsensor.library.NxrXvLibrary");
        }

        if (nxrSensorClass != null && nxrSensorInstance == null)
        {
            nxrSensorInstance = nxrSensorClass.CallStatic<AndroidJavaObject>("getInstance");
        }

        if (nxrSensorProClass == null)
        {
            nxrSensorProClass = new AndroidJavaClass("com.nibiru.nxrsensor.NxrSensor");
        }

        if (nxrSensorProClass != null && nxrSensorProInstance == null)
        {
            nxrSensorProInstance = nxrSensorProClass.CallStatic<AndroidJavaObject>("getInstance");
        }
#endif
    }

    public AndroidJavaObject NxrSensorInstance
    {
        get { return nxrSensorInstance; }
    }

    public bool InitLibrary()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("initLibrary");
        }

        return false;
    }

    public void UninitLibrary()
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("uninitLibrary");
        }
    }

    #region Slam

    public enum PlaneType
    {
        NONE,
        TOF,
        STEREO
    }

    public enum SlamMode
    {
        Edge,
        Mixed,
        EdgeFusionOnHost,
        NONE
    }

    public NxrTrackingData GetTrackingDataAt(long paramLong)
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("getTrackingDataAt", paramLong);
            if (javaObject != null)
            {
                return new NxrTrackingData(javaObject);
            }
        }

        return null;
    }

    public class NxrTrackingData
    {
        public float[] rotation;

        public float[] translation;

        public float[] prediction_coff_s;

        public float[] prediction_coff_b;

        public float[] prediction_coff_bdt;

        public float[] prediction_coff_bdt2;

        public long fetchTimestamp;

        public long timestamp;

        public int source;

        public int black;

        public int rotateY;

        private AndroidJavaObject androidJavaObject;

        public NxrTrackingData()
        {
        }

        public NxrTrackingData(AndroidJavaObject javaObject)
        {
            androidJavaObject = javaObject;
            rotation = javaObject.Get<float[]>("rotation");
            rotation[2] *= -1;
            translation = javaObject.Get<float[]>("translation");
            translation[2] *= -1;
            prediction_coff_s = javaObject.Get<float[]>("prediction_coff_s");
            prediction_coff_b = javaObject.Get<float[]>("prediction_coff_b");
            prediction_coff_bdt = javaObject.Get<float[]>("prediction_coff_bdt");
            prediction_coff_bdt2 = javaObject.Get<float[]>("prediction_coff_bdt2");
            fetchTimestamp = javaObject.Get<long>("fetchTimestamp");
            timestamp = javaObject.Get<long>("timestamp");
            source = javaObject.Get<int>("source");
            black = javaObject.Get<int>("black");
            rotateY = javaObject.Get<int>("rotateY");
        }

        public string toString()
        {
            if (androidJavaObject != null)
            {
                return androidJavaObject.Call<string>("toString");
            }

            return "";
        }
    }

    public void RegisterPoseCallback()
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("registerPoseCallback", new OnPoseListener());
        }
    }

    public delegate void PoseCallback(NxrTrackingData nxrTrackingData);

    public PoseCallback PoseEvent;

    public class OnPoseListener : AndroidJavaProxy
    {
        public OnPoseListener() : base("ruiyue.nxrsensor.library.listener.OnPoseListener")
        {
        }

        public void onPose(AndroidJavaObject paramNxrTrackingData)
        {
            if (paramNxrTrackingData != null)
            {
                var nxrTrackingData = new NxrTrackingData(paramNxrTrackingData);
                if (Instance.PoseEvent != null)
                {
                    Instance.PoseEvent(nxrTrackingData);
                }
            }
            else
            {
                Debug.LogError("AndroidJavaObject paramNxrTrackingData is null !!!");
            }
        }
    }

    public bool StartPlaneDetection(PlaneType type)
    {
        if (nxrSensorInstance != null)
        {
            Debug.Log("StartPlaneDetection：[type=" + type + "]");
            if (planeTypeClass != null)
            {
                planeTypeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.PlaneType");
            }

            var typeObj = planeTypeClass.CallStatic<AndroidJavaObject>("valueOf", type.ToString());
            return nxrSensorInstance.Call<bool>("startPlaneDetection", typeObj, new OnPlaneDetectionListener());
        }

        return false;
    }

    public bool StopPlaneDetection(int type)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("stopPlaneDetection", type);
        }

        return false;
    }

    public class NxrPlaneData
    {
        public long hostTimestamp = 0L;

        public long deviceTimestamp = 0L;

        public NxrPointD[] points;

        public NxrPointD normal = new NxrPointD();

        public int size;

        public int id = -1;

        public NxrPlaneData(AndroidJavaObject javaObject)
        {
            hostTimestamp = javaObject.Get<long>("hostTimestamp");
            deviceTimestamp = javaObject.Get<long>("deviceTimestamp");
            var pointsObj = javaObject.Get<AndroidJavaObject>("points");
            if (pointsObj != null)
            {
                if (pointsObj.GetRawObject().ToInt32() != 0)
                {
                    var pointsObjArray =
                        AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(pointsObj.GetRawObject());
                    points = new NxrPointD[pointsObjArray.Length];
                    for (var i = 0; i < points.Length; i++)
                    {
                        var point = new NxrPointD();
                        point.x = pointsObjArray[i].Get<double>("x");
                        point.y = pointsObjArray[i].Get<double>("y");
                        point.z = pointsObjArray[i].Get<double>("z");
                        points[i] = point;
                        pointsObjArray[i].Dispose();
                    }
                }

                pointsObj.Dispose();
            }

            var normalObj = javaObject.Get<AndroidJavaObject>("normal");
            if (normalObj != null)
            {
                normal.x = normalObj.Get<double>("x");
                normal.y = normalObj.Get<double>("y");
                normal.z = normalObj.Get<double>("z");
                normalObj.Dispose();
            }

            size = javaObject.Get<int>("size");
            id = javaObject.Get<int>("id");
        }
    }

    public class NxrPointD
    {
        public double x;

        public double y;

        public double z;
    }

    public delegate void PlaneDetectedCallback(NxrPlaneData nxrPlaneData);

    public PlaneDetectedCallback PlaneDetectedEvent;

    public class OnPlaneDetectionListener : AndroidJavaProxy
    {
        public OnPlaneDetectionListener() : base("ruiyue.nxrsensor.library.listener.OnPlaneDetectionListener")
        {
        }

        public void onPlaneDetected(AndroidJavaObject paramNxrPlaneData)
        {
            if (paramNxrPlaneData != null)
            {
                var nxrPlaneData = new NxrPlaneData(paramNxrPlaneData);
                if (Instance.PlaneDetectedEvent != null)
                {
                    Instance.PlaneDetectedEvent(nxrPlaneData);
                }
            }
            else
            {
                Debug.LogError("AndroidJavaObject paramNxrPlaneData is null !!!");
            }
        }
    }

    public int RegisterMapCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerMapCallback", new OnMapV2Listener());
        }

        return -1;
    }

    public bool UnregisterMapCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterMapCallback", callbackId);
        }

        return false;
    }

    public delegate void MapV2Callback(NxrPointD[] nxrPointDs);

    public MapV2Callback MapV2Event;

    public class OnMapV2Listener : AndroidJavaProxy
    {
        public OnMapV2Listener() : base("ruiyue.nxrsensor.library.listener.OnMapV2Listener")
        {
        }

        public void onMapV2(AndroidJavaObject paramArrayOfNxrPointD)
        {
            if (paramArrayOfNxrPointD != null)
            {
                if (paramArrayOfNxrPointD.GetRawObject().ToInt32() != 0)
                {
                    var nxrPointDArray =
                        AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(paramArrayOfNxrPointD.GetRawObject());
                    var points = new NxrPointD[nxrPointDArray.Length];
                    for (var i = 0; i < points.Length; i++)
                    {
                        var point = new NxrPointD();
                        point.x = nxrPointDArray[i].Get<double>("x");
                        point.y = nxrPointDArray[i].Get<double>("y");
                        point.z = nxrPointDArray[i].Get<double>("z");
                        points[i] = point;
                        nxrPointDArray[i].Dispose();
                    }

                    if (Instance.MapV2Event != null)
                    {
                        Instance.MapV2Event(points);
                    }
                }
            }
            else
            {
                Debug.LogError("AndroidJavaObject paramArrayOfNxrPointD is null !!!");
            }
        }
    }

    public bool LoadMapAndSwitchToCslam(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("loadMapAndSwitchToCslam", path, new OnMapListener());
        }

        return false;
    }

    public bool SaveMapAndSwitchToCslam(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("saveMapAndSwitchToCslam", path, new OnMapListener());
        }

        return false;
    }

    public delegate void MapPercentCallback(float paramFloat);

    public delegate void MapStatusAndQualityCallback(int paramInt1, int paramInt2);

    public MapPercentCallback MapPercentEvent;
    public MapStatusAndQualityCallback MapStatusAndQualityEvent;

    public class OnMapListener : AndroidJavaProxy
    {
        public OnMapListener() : base("ruiyue.nxrsensor.library.listener.OnMapListener")
        {
        }

        public void onMapPercent(float paramFloat)
        {
            if (Instance.MapPercentEvent != null)
            {
                Instance.MapPercentEvent(paramFloat);
            }
        }

        public void onMapStatusAndQuality(int paramInt1, int paramInt2)
        {
            if (Instance.MapStatusAndQualityEvent != null)
            {
                Instance.MapStatusAndQualityEvent(paramInt1, paramInt2);
            }
        }
    }

    public SlamMode GetSlamMode()
    {
        if (nxrSensorInstance != null)
        {
            var slamModeObj = nxrSensorInstance.Call<AndroidJavaObject>("getSlamMode");
            if (slamModeObj != null)
            {
                return (SlamMode) slamModeObj.Call<int>("ordinal");
            }
        }

        return SlamMode.NONE;
    }

    #endregion

    #region Gesture

    public enum XvGestureType
    {
        NONE,
        NORMAL,
        DYNAMIC_OR_SLAM
    }

    public bool StartGesture(XvGestureType type)
    {
        if (nxrSensorInstance != null)
        {
            if (xvGestureTypeClass == null)
            {
                xvGestureTypeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.XvGestureType");
            }

            var typeObj = xvGestureTypeClass.CallStatic<AndroidJavaObject>("valueOf", type.ToString());
            return nxrSensorInstance.Call<bool>("startGesture", typeObj, new OnGestureListener());
        }

        return false;
    }

    public bool StopGesture(int type)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("stopGesture", type);
        }

        return false;
    }

    public class NxrGesture
    {
        public int size;

        public int[] gesture;

        public float distance;

        public float confidence;

        public NxrPointF[] position;

        public NxrPointF[] slamPosition;

        public long dataFetchTimeMs;

        public long dataTimeStampMs;

        public NxrGesture(AndroidJavaObject javaObject)
        {
            size = javaObject.Get<int>("size");
            gesture = javaObject.Get<int[]>("gesture");
            distance = javaObject.Get<float>("distance");
            confidence = javaObject.Get<float>("confidence");
            var positionObj = javaObject.Get<AndroidJavaObject>("position");
            if (positionObj != null)
            {
                if (positionObj.GetRawObject().ToInt32() != 0)
                {
                    var positionObjArray =
                        AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(positionObj.GetRawObject());
                    position = new NxrPointF[positionObjArray.Length];
                    for (var i = 0; i < position.Length; i++)
                    {
                        var tempPosition = new NxrPointF();
                        tempPosition.x = positionObjArray[i].Get<float>("x");
                        tempPosition.y = positionObjArray[i].Get<float>("y");
                        tempPosition.z = positionObjArray[i].Get<float>("z");
                        position[i] = tempPosition;
                        positionObjArray[i].Dispose();
                    }
                }

                positionObj.Dispose();
            }

            var slamPositionObj = javaObject.Get<AndroidJavaObject>("slamPosition");
            if (slamPositionObj != null)
            {
                if (slamPositionObj.GetRawObject().ToInt32() != 0)
                {
                    var slamPositionObjArray =
                        AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(slamPositionObj.GetRawObject());
                    slamPosition = new NxrPointF[slamPositionObjArray.Length];
                    for (var i = 0; i < slamPosition.Length; i++)
                    {
                        var tempSlamPosition = new NxrPointF();
                        tempSlamPosition.x = slamPositionObjArray[i].Get<float>("x");
                        tempSlamPosition.y = slamPositionObjArray[i].Get<float>("y");
                        tempSlamPosition.z = slamPositionObjArray[i].Get<float>("z");
                        slamPosition[i] = tempSlamPosition;
                        slamPositionObjArray[i].Dispose();
                    }
                }

                slamPositionObj.Dispose();
            }

            dataFetchTimeMs = javaObject.Get<long>("dataFetchTimeMs");
            dataTimeStampMs = javaObject.Get<long>("dataTimeStampMs");
        }
    }

    public class NxrPointF
    {
        public float x;

        public float y;

        public float z;
    }

    public delegate void GestureCallback(NxrGesture nxrGesture);

    public GestureCallback GestureEvent;

    public class OnGestureListener : AndroidJavaProxy
    {
        public OnGestureListener() : base("ruiyue.nxrsensor.library.listener.OnGestureListener")
        {
        }

        public void onGesture(AndroidJavaObject paramNxrGesture)
        {
            if (paramNxrGesture != null)
            {
                var nxrGesture = new NxrGesture(paramNxrGesture);
                if (Instance.GestureEvent != null)
                {
                    Instance.GestureEvent(nxrGesture);
                }
            }
            else
            {
                Debug.LogError("AndroidJavaObject paramNxrGesture is null !!!");
            }
        }
    }

    public bool StartSkeleton(XvGestureType type)
    {
        if (nxrSensorInstance != null)
        {
            var isStartSlam = nxrSensorInstance.Call<bool>("startSlam");
            if (isStartSlam)
            {
                if (xvGestureTypeClass == null)
                {
                    xvGestureTypeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.XvGestureType");
                }

                var typeObj = xvGestureTypeClass.CallStatic<AndroidJavaObject>("valueOf", type.ToString());
                return nxrSensorInstance.Call<bool>("startSkeleton", typeObj, new OnSkeletonListener());
            }
        }

        return false;
    }

    public bool StopSkeleton(int type)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("stopSkeleton", type);
        }

        return false;
    }

    public class NxrSkeleton
    {
        public int size;

        public NxrPointF[][] joints;

        public long dataFetchTimeMS;

        public long dataTimeStampMs;

        public NxrPointF[] joints0;

        public NxrPointF[] joints1;

        public NxrSkeleton(AndroidJavaObject javaObject)
        {
            size = javaObject.Get<int>("size");
            dataFetchTimeMS = javaObject.Get<long>("dataFetchTimeMS");
            dataTimeStampMs = javaObject.Get<long>("dataTimeStampMs");
            var joints0Array = javaObject.Get<AndroidJavaObject[]>("joints0");
            var joints1Array = javaObject.Get<AndroidJavaObject[]>("joints1");
            joints0 = new NxrPointF[joints0Array.Length];
            joints1 = new NxrPointF[joints1Array.Length];
            for (var i = 0; i < joints0.Length; i++)
            {
                var joint0 = new NxrPointF();
                joint0.x = joints0Array[i].Get<float>("x");
                joint0.y = joints0Array[i].Get<float>("y");
                joint0.z = joints0Array[i].Get<float>("z");
                var joint1 = new NxrPointF();
                joint1.x = joints1Array[i].Get<float>("x");
                joint1.y = joints1Array[i].Get<float>("y");
                joint1.z = joints1Array[i].Get<float>("z");
                joints0[i] = joint0;
                joints1[i] = joint1;
                joints0Array[i].Dispose();
                joints1Array[i].Dispose();
            }

            joints = new NxrPointF[2][];
            joints[0] = joints0;
            joints[1] = joints1;
        }
    }

    public delegate void SkeletonCallback(NxrSkeleton nxrSkeleton);

    public SkeletonCallback SkeletonEvent;

    public class OnSkeletonListener : AndroidJavaProxy
    {
        public OnSkeletonListener() : base("ruiyue.nxrsensor.library.listener.OnSkeletonListener")
        {
        }

        public void onSkeleton(AndroidJavaObject paramNxrSkeleton)
        {
            if (paramNxrSkeleton != null)
            {
                var nxrSkeleton = new NxrSkeleton(paramNxrSkeleton);
                if (Instance.SkeletonEvent != null)
                {
                    Instance.SkeletonEvent(nxrSkeleton);
                }
            }
            else
            {
                Debug.LogError("AndroidJavaObject paramNxrSkeleton is null !!!");
            }
        }
    }

    public void SetConfigPath(string path)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setConfigPath", path);
        }
    }

    #endregion

    #region Apriltag

    public string StartTagDetector(string tagFamliy, double size, double refreshRate)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<string>("startTagDetector", tagFamliy, size, refreshRate);
        }

        return null;
    }

    public bool StopTagDetector(string detectorId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("stopTagDetector", detectorId);
        }

        return false;
    }

    public TagDetection[] GetTagDetections(string detectorId)
    {
        if (nxrSensorInstance != null)
        {
            var tagDetectionsObj = nxrSensorInstance.Call<AndroidJavaObject>("getTagDetections", detectorId);
            if (tagDetectionsObj != null)
            {
                var tagDetectionsArray =
                    AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(tagDetectionsObj.GetRawObject());
                var tagDetections = new TagDetection[tagDetectionsArray.Length];
                for (var i = 0; i < tagDetections.Length; i++)
                {
                    tagDetections[i] = new TagDetection(tagDetectionsArray[i]);
                    tagDetectionsArray[i].Dispose();
                }

                tagDetectionsObj.Dispose();
                return tagDetections;
            }
        }

        return null;
    }

    public TagDetection[] DetectTags(string tagFamliy, double size)
    {
        if (nxrSensorInstance != null)
        {
            var tagDetectionsObj = nxrSensorInstance.Call<AndroidJavaObject>("detectTags", tagFamliy, size);
            if (tagDetectionsObj != null)
            {
                var tagDetectionsArray =
                    AndroidJNIHelper.ConvertFromJNIArray<AndroidJavaObject[]>(tagDetectionsObj.GetRawObject());
                var tagDetections = new TagDetection[tagDetectionsArray.Length];
                for (var i = 0; i < tagDetections.Length; i++)
                {
                    tagDetections[i] = new TagDetection(tagDetectionsArray[i]);
                    tagDetectionsArray[i].Dispose();
                }

                tagDetectionsObj.Dispose();
                return tagDetections;
            }
        }

        return null;
    }

    public class TagDetection
    {
        public int id;

        public float[] quaternion;

        public float[] translation;

        public float[] rotation;

        public TagDetection(AndroidJavaObject javaObject)
        {
            id = javaObject.Get<int>("id");
            quaternion = javaObject.Get<float[]>("quaternion");
            quaternion[2] *= -1;
            translation = javaObject.Get<float[]>("translation");
            translation[2] *= -1;
            rotation = javaObject.Get<float[]>("rotation");
        }
    }

    public void SetTagsMap(string tagFamliy, double tagSize, int[] tagIds, NxrTrackingData[] transforms)
    {
        if (nxrSensorProInstance != null && transforms != null)
        {
            var nxrTrackingDataSize = transforms.Length;
            var rotation_size = new int[nxrTrackingDataSize];
            var translation_size = new int[nxrTrackingDataSize];
            var prediction_coff_s_size = new int[nxrTrackingDataSize];
            var prediction_coff_b_size = new int[nxrTrackingDataSize];
            var prediction_coff_bdt_size = new int[nxrTrackingDataSize];
            var prediction_coff_bdt2_size = new int[nxrTrackingDataSize];
            var rotation_count = 0;
            var translation_count = 0;
            var prediction_coff_s_count = 0;
            var prediction_coff_b_count = 0;
            var prediction_coff_bdt_count = 0;
            var prediction_coff_bdt2_count = 0;
            var fetchTimestamp = new long[nxrTrackingDataSize];
            var timestamp = new long[nxrTrackingDataSize];
            var source = new int[nxrTrackingDataSize];
            var black = new int[nxrTrackingDataSize];
            var rotateY = new int[nxrTrackingDataSize];
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                rotation_size[i] = transforms[i].rotation.Length;
                translation_size[i] = transforms[i].translation.Length;
                prediction_coff_s_size[i] = transforms[i].prediction_coff_s.Length;
                prediction_coff_b_size[i] = transforms[i].prediction_coff_b.Length;
                prediction_coff_bdt_size[i] = transforms[i].prediction_coff_bdt.Length;
                prediction_coff_bdt2_size[i] = transforms[i].prediction_coff_bdt2.Length;
                rotation_count += rotation_size[i];
                translation_count += translation_size[i];
                prediction_coff_s_count += prediction_coff_s_size[i];
                prediction_coff_b_count += prediction_coff_b_size[i];
                prediction_coff_bdt_count += prediction_coff_bdt_size[i];
                prediction_coff_bdt2_count += prediction_coff_bdt2_size[i];
                fetchTimestamp[i] = transforms[i].fetchTimestamp;
                timestamp[i] = transforms[i].timestamp;
                source[i] = transforms[i].source;
                black[i] = transforms[i].black;
                rotateY[i] = transforms[i].rotateY;
            }

            var rotation = new float[rotation_count];
            var translation = new float[translation_count];
            var prediction_coff_s = new float[prediction_coff_s_count];
            var prediction_coff_b = new float[prediction_coff_b_count];
            var prediction_coff_bdt = new float[prediction_coff_bdt_count];
            var prediction_coff_bdt2 = new float[prediction_coff_bdt2_count];
            var count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < rotation_size[i]; j++)
                {
                    rotation[count] = transforms[i].rotation[j];
                    count++;
                }
            }

            count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < translation_size[i]; j++)
                {
                    translation[count] = transforms[i].translation[j];
                    count++;
                }
            }

            count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < prediction_coff_s_size[i]; j++)
                {
                    prediction_coff_s[count] = transforms[i].prediction_coff_s[j];
                    count++;
                }
            }

            count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < prediction_coff_b_size[i]; j++)
                {
                    prediction_coff_b[count] = transforms[i].prediction_coff_b[j];
                    count++;
                }
            }

            count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < prediction_coff_bdt_size[i]; j++)
                {
                    prediction_coff_bdt[count] = transforms[i].prediction_coff_bdt[j];
                    count++;
                }
            }

            count = 0;
            for (var i = 0; i < nxrTrackingDataSize; i++)
            {
                for (int j = 0; j < prediction_coff_bdt2_size[i]; j++)
                {
                    prediction_coff_bdt2[count] = transforms[i].prediction_coff_bdt2[j];
                    count++;
                }
            }

            nxrSensorProInstance.Call("setTagsMap", tagFamliy, tagSize, tagIds, nxrTrackingDataSize,
                rotation_size, translation_size, prediction_coff_s_size, prediction_coff_b_size,
                prediction_coff_bdt_size, prediction_coff_bdt2_size,
                rotation, translation, prediction_coff_s, prediction_coff_b, prediction_coff_bdt, prediction_coff_bdt2,
                fetchTimestamp, timestamp, source, black, rotateY);
        }
    }

    public NxrTrackingData GetTrackingDataInTagsMap(double prediction)
    {
        if (nxrSensorInstance != null)
        {
            var nxrTrackingDataObj = nxrSensorInstance.Call<AndroidJavaObject>("getTrackingDataInTagsMap", prediction);
            if (nxrTrackingDataObj != null)
            {
                return new NxrTrackingData(nxrTrackingDataObj);
            }
        }

        return null;
    }

    #endregion

    #region Display

    public DisplayCalibration ReadDisplayCalibrations()
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("readDisplayCalibrations");
            if (javaObject != null)
            {
                return new DisplayCalibration(javaObject);
            }
        }

        return null;
    }

    public class DisplayCalibration
    {
        public float[][] K;

        public float[][] rotation;

        public float[][] translation;

        public float[] K0;

        public float[] K1;

        public float[] rotation0;

        public float[] rotation1;

        public float[] translation0;

        public float[] translation1;

        public DisplayCalibration(AndroidJavaObject javaObject)
        {
            K0 = javaObject.Get<float[]>("K0");
            K1 = javaObject.Get<float[]>("K1");
            rotation0 = javaObject.Get<float[]>("rotation0");
            rotation1 = javaObject.Get<float[]>("rotation1");
            translation0 = javaObject.Get<float[]>("translation0");
            translation1 = javaObject.Get<float[]>("translation1");
            K = new float[2][];
            K[0] = K0;
            K[1] = K1;
            rotation = new float[2][];
            rotation[0] = rotation0;
            rotation[1] = rotation1;
            translation = new float[2][];
            translation[0] = translation0;
            translation[1] = translation1;
        }
    }

    public void SetDisplayBrightnessLevel(int level)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setDisplayBrightnessLevel", level);
        }
    }

    public bool DisplayOpen()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("displayOpen");
        }

        return false;
    }

    public bool DisplayClose()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("displayClose");
        }

        return false;
    }

    #endregion

    #region Rgb

    public bool StartStreaming(NxrSlam.RawDataType type)
    {
        if (nxrSensorInstance != null)
        {
            if (rawDataTypeClass == null)
            {
                rawDataTypeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.RawDataType");
            }

            var typeObj = rawDataTypeClass.CallStatic<AndroidJavaObject>("valueOf", type.ToString());
            return nxrSensorInstance.Call<bool>("startStreaming", typeObj, new OnStreamDataListener());
        }

        return false;
    }

    public bool StopStreaming(NxrSlam.RawDataType type)
    {
        if (nxrSensorInstance != null)
        {
            if (rawDataTypeClass == null)
            {
                rawDataTypeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.RawDataType");
            }

            var typeObj = rawDataTypeClass.CallStatic<AndroidJavaObject>("valueOf", type.ToString());
            return nxrSensorInstance.Call<bool>("stopStreaming", typeObj);
        }

        return false;
    }

    public class NxrStreamData
    {
        public byte[] data;

        public byte[] left;

        public byte[] right;

        public int type;

        public int format;

        public int width;

        public int height;

        public int size;

        public int leftSize;

        public int rightSize;

        public long timestamp;

        public NxrStreamData()
        {
        }

        public NxrStreamData(AndroidJavaObject javaObject)
        {
            data = javaObject.Get<byte[]>("data");
            left = javaObject.Get<byte[]>("left");
            right = javaObject.Get<byte[]>("right");
            type = javaObject.Get<int>("type");
            format = javaObject.Get<int>("format");
            width = javaObject.Get<int>("width");
            height = javaObject.Get<int>("height");
            size = javaObject.Get<int>("size");
            leftSize = javaObject.Get<int>("leftSize");
            rightSize = javaObject.Get<int>("rightSize");
            timestamp = javaObject.Get<long>("timestamp");
        }
    }

    public delegate void StreamDataCallback(NxrSlam.RawDataType paramRawDataType, NxrStreamData paramNxrStreamData);

    public StreamDataCallback StreamDataEvent;

    public class OnStreamDataListener : AndroidJavaProxy
    {
        public OnStreamDataListener() : base("ruiyue.nxrsensor.library.listener.OnStreamDataListener")
        {
        }

        public void onStreamData(AndroidJavaObject paramRawDataType, AndroidJavaObject paramNxrStreamData)
        {
            if (paramNxrStreamData != null)
            {
                var rawDataType = (NxrSlam.RawDataType) paramRawDataType.Call<int>("ordinal");
                var nxrStreamData = new NxrStreamData(paramNxrStreamData);
                if (Instance.StreamDataEvent != null)
                {
                    Instance.StreamDataEvent(rawDataType, nxrStreamData);
                }
            }
        }
    }

    public RgbCalibration ReadRgbCalibrations()
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("readRgbCalibrations");
            if (javaObject != null)
            {
                return new RgbCalibration(javaObject);
            }
        }

        return null;
    }

    public class RgbCalibration
    {
        public float[][] K;

        public float[] rotation;

        public float[] translation;

        public float[] K0;

        public float[] K1;

        public float[] K2;

        public RgbCalibration(AndroidJavaObject javaObject)
        {
            rotation = javaObject.Get<float[]>("rotation");
            translation = javaObject.Get<float[]>("translation");
            K0 = javaObject.Get<float[]>("K0");
            K1 = javaObject.Get<float[]>("K1");
            K2 = javaObject.Get<float[]>("K2");
            K = new float[3][];
            K[0] = K0;
            K[1] = K1;
            K[2] = K2;
        }
    }

    public void SetRgbResolution(NxrSlam.RgbResolution r)
    {
        if (nxrSensorInstance != null)
        {
            if (rgbResolutionClass == null)
            {
                rgbResolutionClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.RgbResolution");
            }

            var rObj = rgbResolutionClass.CallStatic<AndroidJavaObject>("valueOf", r.ToString());
            nxrSensorInstance.Call("setRgbResolution", rObj);
        }
    }

    public void SetRgbExposure(int aecMode, int exposureGain, int exposureTimeMs)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setRgbExposure", aecMode, exposureGain, exposureTimeMs);
        }
    }

    public void SetRgbBrightnessLevel(int level)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setRgbBrightnessLevel", level);
        }
    }

    #endregion

    #region Tof

    public enum TofFPS
    {
        TOF_FPS_5,
        TOF_FPS_10,
        TOF_FPS_15,
        TOF_FPS_20,
        TOF_FPS_25,
        TOF_FPS_30
    }

    public enum TofStreamMode
    {
        ONLY_DEPTH,
        ONLY_CLOUD,
        DEPTH_CLOUD,
        NONE,
        CLOUD_ON_LEFTHAND_SLAM
    }

    public enum DistanceMode
    {
        SHORT,
        MIDDLE,
        LONG
    }

    public int RegisterColorDepthImageCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerColorDepthImageCallback", new OnStreamDataV3Listener());
        }

        return -1;
    }

    public bool UnregisterColorDepthImageCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterColorDepthImageCallback", callbackId);
        }

        return false;
    }

    public delegate void StreamDataV3ListenerCallback(NxrStreamData paramNxrStreamData);

    public StreamDataV3ListenerCallback StreamDataV3ListenerEvent;

    public class OnStreamDataV3Listener : AndroidJavaProxy
    {
        public OnStreamDataV3Listener() : base("ruiyue.nxrsensor.library.listener.OnStreamDataV3Listener")
        {
        }

        public void onStreamDataV3(AndroidJavaObject paramNxrStreamData)
        {
            if (paramNxrStreamData != null)
            {
                var nxrStreamData = new NxrStreamData(paramNxrStreamData);
                if (Instance.StreamDataV3ListenerEvent != null)
                {
                    Instance.StreamDataV3ListenerEvent(nxrStreamData);
                }
            }
        }
    }

    public TofCalibration ReadTofCalibration()
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("readTofCalibration");
            if (javaObject != null)
            {
                return new TofCalibration(javaObject);
            }
        }

        return null;
    }

    public class TofCalibration
    {
        public float[] K;

        public float[] rotation;

        public float[] translation;

        public TofCalibration(AndroidJavaObject javaObject)
        {
            K = javaObject.Get<float[]>("K");
            rotation = javaObject.Get<float[]>("rotation");
            translation = javaObject.Get<float[]>("translation");
        }
    }

    public void SetTofExposure(int aecMode, int exposureGain, int exposureTimeMs)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setTofExposure", aecMode, exposureGain, exposureTimeMs);
        }
    }

    public void SetTofBrightnessLevel(int level)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setTofBrightnessLevel", level);
        }
    }

    public void SetTofFrameRate(TofFPS fps)
    {
        if (nxrSensorInstance != null)
        {
            if (tofFPSClass == null)
            {
                tofFPSClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.TofFPS");
            }

            var fpsObj = tofFPSClass.CallStatic<AndroidJavaObject>("valueOf", fps.ToString());
            nxrSensorInstance.Call("setTofFrameRate", fpsObj);
        }
    }

    public void SetTofResolution(int resolution)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setTofResolution", resolution);
        }
    }

    public NxrPointCloud DepthImageToPointCloud(NxrStreamData stream)
    {
        if (nxrSensorProInstance != null && stream != null)
        {
            var data = stream.data;
            var left = stream.left;
            var right = stream.right;
            var type = stream.type;
            var format = stream.format;
            var width = stream.width;
            var height = stream.height;
            var size = stream.size;
            var leftSize = stream.leftSize;
            var rightSize = stream.rightSize;
            var timestamp = stream.timestamp;
            var javaObject = nxrSensorProInstance.Call<AndroidJavaObject>("depthImageToPointCloud", data, left, right,
                type, format, width, height, size, leftSize, rightSize, timestamp);
            if (javaObject != null)
            {
                return new NxrPointCloud(javaObject);
            }
        }

        return null;
    }

    public class NxrPointCloud
    {
        public long dataFetchTimeMs;

        public long dataTimeStampMs;

        public NxrPointF[] points;

        public NxrPointCloud(AndroidJavaObject javaObject)
        {
            dataFetchTimeMs = javaObject.Get<long>("dataFetchTimeMs");
            dataTimeStampMs = javaObject.Get<long>("dataTimeStampMs");
            var pointsArray = javaObject.Get<AndroidJavaObject[]>("points");
            points = new NxrPointF[pointsArray.Length];
            for (var i = 0; i < points.Length; i++)
            {
                var nxrPointF = new NxrPointF();
                nxrPointF.x = pointsArray[i].Get<float>("x");
                nxrPointF.y = pointsArray[i].Get<float>("y");
                nxrPointF.z = pointsArray[i].Get<float>("z");
                points[i] = nxrPointF;
                pointsArray[i].Dispose();
            }
        }
    }

    public void SetTofStreamMode(TofStreamMode mode)
    {
        if (nxrSensorInstance != null)
        {
            if (tofStreamModeClass == null)
            {
                tofStreamModeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.TofStreamMode");
            }

            var modeObj = tofStreamModeClass.CallStatic<AndroidJavaObject>("valueOf", mode.ToString());
            nxrSensorInstance.Call("setTofStreamMode", modeObj);
        }
    }

    public void SetTofDistanceMode(DistanceMode mode)
    {
        if (nxrSensorInstance != null)
        {
            if (distanceModeClass == null)
            {
                distanceModeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.DistanceMode");
            }

            var modeObj = distanceModeClass.CallStatic<AndroidJavaObject>("valueOf", mode.ToString());
            nxrSensorInstance.Call("setTofDistanceMode", modeObj);
        }
    }

    public void SetTofMode(int mode)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setTofMode", mode);
        }
    }

    #endregion

    #region FishEye

    public FishEyeCalibration ReadStereoFisheyesCalibrations(int type)
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("readStereoFisheyesCalibrations", type);
            return new FishEyeCalibration(javaObject);
        }

        return null;
    }

    public FishEyeCalibration ReadStereoFisheyesPDMCalibrations(int type)
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("readStereoFisheyesPDMCalibrations", type);
            return new FishEyeCalibration(javaObject);
        }

        return null;
    }

    public class FishEyeCalibration
    {
        public float[][] K;

        public float[][] rotation;

        public float[][] translation;

        public int imu_fisheye_shift_us;

        public float delta;

        public float[] K0;

        public float[] K1;

        public float[] rotation0;

        public float[] rotation1;

        public float[] translation0;

        public float[] translation1;

        public FishEyeCalibration(AndroidJavaObject javaObject)
        {
            imu_fisheye_shift_us = javaObject.Get<int>("imu_fisheye_shift_us");
            delta = javaObject.Get<float>("delta");
            K0 = javaObject.Get<float[]>("K0");
            K1 = javaObject.Get<float[]>("K1");
            rotation0 = javaObject.Get<float[]>("rotation0");
            rotation1 = javaObject.Get<float[]>("rotation1");
            translation0 = javaObject.Get<float[]>("translation0");
            translation1 = javaObject.Get<float[]>("translation1");
            K = new float[2][];
            K[0] = K0;
            K[1] = K1;
            rotation = new float[2][];
            rotation[0] = rotation0;
            rotation[1] = rotation1;
            translation = new float[2][];
            translation[0] = translation0;
            translation[1] = translation1;
        }
    }

    public void SetFishEyeExposure(int aecMode, int exposureGain, int exposureTimeMs)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setFishEyeExposure", aecMode, exposureGain, exposureTimeMs);
        }
    }

    public void SetFishEyeBrightnessLevel(int level)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setFishEyeBrightnessLevel", level);
        }
    }

    #endregion

    #region Eyetracking

    public void SetEyeTrackingExposure(int leftGain, int leftTimeMs, int rightGain, int rightTimeMs)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setEyeTrackingExposure", leftGain, leftTimeMs, rightGain, rightTimeMs);
        }
    }

    public void SetEyeTrackingLedBrightness(int eye, int led, int brightness)
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("setEyeTrackingLedBrightness", eye, led, brightness);
        }
    }

    #endregion

    #region 3dof

    public NxrTrackingData Get3dof(double prediction)
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("get3dof", prediction);
            return new NxrTrackingData(javaObject);
        }

        return null;
    }

    public NxrTrackingData Get3dofAt(double timestamp)
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("get3dofAt", timestamp);
            return new NxrTrackingData(javaObject);
        }

        return null;
    }

    public void RegisterOrientationCallback()
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("registerOrientationCallback", new OnOrientationListener());
        }
    }

    public delegate void OrientationCallback(NxrTrackingData paramNxrTrackingData);

    public OrientationCallback OrientationEvent;

    public class OnOrientationListener : AndroidJavaProxy
    {
        public OnOrientationListener() : base("ruiyue.nxrsensor.library.listener.OnOrientationListener")
        {
        }

        public void onOrientation(AndroidJavaObject paramNxrTrackingData)
        {
            if (paramNxrTrackingData != null)
            {
                var nxrTrackingData = new NxrTrackingData(paramNxrTrackingData);
                if (Instance.OrientationEvent != null)
                {
                    Instance.OrientationEvent(nxrTrackingData);
                }
            }
        }
    }

    #endregion

    #region EventStream

    public void RegisterEventCallback()
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("registerEventCallback", new OnEventListener());
        }
    }

    public delegate void EventCallback(int paramInt1, int paramInt2);

    public EventCallback eventCallback;

    public class OnEventListener : AndroidJavaProxy
    {
        public OnEventListener() : base("ruiyue.nxrsensor.library.listener.OnEventListener")
        {
        }

        public void onEvent(int paramInt1, int paramInt2)
        {
            if (Instance.eventCallback != null)
            {
                Instance.eventCallback(paramInt1, paramInt2);
            }
        }
    }

    #endregion

    #region Imu

    public enum XvLogLevel
    {
        NONE,
        DEBUG,
        INFO,
        WARN,
        ERROR,
        CRITICAL,
        OFF
    }

    public void RegisterImuCallback()
    {
        if (nxrSensorInstance != null)
        {
            nxrSensorInstance.Call("registerImuCallback", new OnRawDataListener());
        }
    }

    public delegate void ImuCallback(NxrRawData paramNxrRawData);

    public ImuCallback ImuEvent;

    public class OnRawDataListener : AndroidJavaProxy
    {
        public OnRawDataListener() : base("ruiyue.nxrsensor.library.listener.OnRawDataListener")
        {
        }

        public void onImu(AndroidJavaObject paramNxrRawData)
        {
            if (paramNxrRawData != null)
            {
                var nxrRawData = new NxrRawData(paramNxrRawData);
                if (Instance.ImuEvent != null)
                {
                    Instance.ImuEvent(nxrRawData);
                }
            }
        }
    }

    public class NxrRawData
    {
        public float[] acc;

        public float[] gyro;

        public float[] mag;

        public long timestamp;

        public int quality;

        public NxrRawData(AndroidJavaObject javaObject)
        {
            acc = javaObject.Get<float[]>("acc");
            gyro = javaObject.Get<float[]>("gyro");
            mag = javaObject.Get<float[]>("mag");
            timestamp = javaObject.Get<long>("timestamp");
            quality = javaObject.Get<int>("quality");
        }
    }

    public bool HidWriteAndRead(byte[] values, int vlength, byte[] result, int rlength)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("hidWriteAndRead", values, vlength, result, rlength);
        }

        return false;
    }

    public NxrVersion Version()
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("version");
            return new NxrVersion(javaObject);
        }

        return null;
    }

    public class NxrVersion
    {
        public int major = 0;

        public int minor = 0;

        public int patch = 0;

        public NxrVersion(AndroidJavaObject javaObject)
        {
            major = javaObject.Get<int>("major");
            minor = javaObject.Get<int>("minor");
            patch = javaObject.Get<int>("patch");
        }
    }

    public void SetLogLevel(XvLogLevel level)
    {
        if (nxrSensorInstance != null)
        {
            if (xvLogLevelClass == null)
            {
                xvLogLevelClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.XvLogLevel");
            }

            var levelObj = xvLogLevelClass.CallStatic<AndroidJavaObject>("valueOf", level.ToString());
            nxrSensorInstance.Call("setLogLevel", levelObj);
        }
    }

    #endregion

    #region Cnn

    public bool SetDescriptor(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("setDescriptor", path);
        }

        return false;
    }

    public bool SetModel(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("setModel", path);
        }

        return false;
    }

    public bool SetSource(int source)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("setSource", source);
        }

        return false;
    }

    public int GetSource()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("getSource");
        }

        return -1;
    }

    public Descriptor GetDescriptor()
    {
        if (nxrSensorInstance != null)
        {
            var javaObject = nxrSensorInstance.Call<AndroidJavaObject>("getDescriptor");
            return new Descriptor(javaObject);
        }

        return null;
    }

    public class Descriptor
    {
        public string type;

        public string[] classes;

        public double threshold;

        public bool flipStereo;

        public bool flipRgb;

        public bool flipTof;

        public Descriptor(AndroidJavaObject javaObject)
        {
            type = javaObject.Get<string>("type");
            classes = javaObject.Get<string[]>("classes");
            threshold = javaObject.Get<double>("hreshold");
            flipStereo = javaObject.Get<bool>("flipStereo");
            flipRgb = javaObject.Get<bool>("flipRgb");
            flipTof = javaObject.Get<bool>("flipTof");
        }
    }

    public int RegisterCnnRawCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerCnnRawCallback", new OnCnnRawDataListener());
        }

        return -1;
    }

    public bool UnregisterCnnRawCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterCnnRawCallback", callbackId);
        }

        return false;
    }

    public delegate void CnnCallback(NxrCnnRawData paramNxrCnnRawData);

    public CnnCallback CnnEvent;

    public class OnCnnRawDataListener : AndroidJavaProxy
    {
        public OnCnnRawDataListener() : base("ruiyue.nxrsensor.library.listener.OnCnnRawDataListener")
        {
        }

        public void onCnn(AndroidJavaObject paramNxrCnnRawData)
        {
            if (paramNxrCnnRawData != null)
            {
                var nxrCnnRawData = new NxrCnnRawData(paramNxrCnnRawData);
                if (Instance.CnnEvent != null)
                {
                    Instance.CnnEvent(nxrCnnRawData);
                }
            }
        }
    }

    public class NxrCnnRawData
    {
        public float[] data;

        public int size;

        public NxrCnnRawData(AndroidJavaObject javaObject)
        {
            data = javaObject.Get<float[]>("data");
            size = javaObject.Get<int>("size");
        }
    }

    #endregion

    #region Mic

    public bool MicStart()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("micStart");
        }

        return false;
    }

    public bool MicStop()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("micStop");
        }

        return false;
    }

    public int RegisterMicCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerMicCallback", new OnMicDataListener());
        }

        return -1;
    }

    public bool UnregisterMicCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterMicCallback", callbackId);
        }

        return false;
    }

    public delegate void MicCallback(NxrMicData paramNxrMicData);

    public MicCallback MicEvent;

    public class OnMicDataListener : AndroidJavaProxy
    {
        public OnMicDataListener() : base("ruiyue.nxrsensor.library.listener.OnMicDataListener")
        {
        }

        public void onMic(AndroidJavaObject paramNxrMicData)
        {
            if (paramNxrMicData != null)
            {
                var nxrMicData = new NxrMicData(paramNxrMicData);
                if (Instance.MicEvent != null)
                {
                    Instance.MicEvent(nxrMicData);
                }
            }
        }
    }

    public class NxrMicData
    {
        public long dataFetchTimeMs;

        public long dataTimeStampMs;

        public byte[] data;

        public int size;

        public NxrMicData(AndroidJavaObject javaObject)
        {
            dataFetchTimeMs = javaObject.Get<long>("dataFetchTimeMs");
            dataTimeStampMs = javaObject.Get<long>("dataTimeStampMs");
            data = javaObject.Get<byte[]>("data");
            size = javaObject.Get<int>("size");
        }
    }

    #endregion

    #region Speak

    public bool SpeakerEnable()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("speakerEnable");
        }

        return false;
    }

    public bool SpeakerDisable()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("speakerDisable");
        }

        return false;
    }

    public int SpeakerSend(byte[] data, int size)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("speakerSend", data, size);
        }

        return -1;
    }

    public bool SpeakerPlay(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("speakerPlay", path);
        }

        return false;
    }

    public bool SpeakerIsPlaying()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("speakerIsPlaying");
        }

        return false;
    }

    public int RegisterSpeakerCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerSpeakerCallback", new OnSpeakerListener());
        }

        return -1;
    }

    public bool UnregisterSpeakerCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterSpeakerCallback", callbackId);
        }

        return false;
    }

    public delegate void SpeakerCallback();

    public SpeakerCallback SpeakerEvent;

    public class OnSpeakerListener : AndroidJavaProxy
    {
        public OnSpeakerListener() : base("ruiyue.nxrsensor.library.listener.OnSpeakerListener")
        {
        }

        public void onSpeaker()
        {
            if (Instance.SpeakerEvent != null)
            {
                Instance.SpeakerEvent();
            }
        }
    }

    #endregion

    #region Sgbm

    public bool SgbmStart(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("sgbmStart", path);
        }

        return false;
    }

    public bool SgbmStop()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("sgbmStop");
        }

        return false;
    }

    public int RegisterSgbmCallback()
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<int>("registerSgbmCallback", new OnStreamDataV3Listener());
        }

        return -1;
    }

    public bool UnregisterSgbmCallback(int callbackId)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("unregisterSgbmCallback", callbackId);
        }

        return false;
    }

    public bool SgbmSetConfig(string path)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("sgbmSetConfig", path);
        }

        return false;
    }

    #endregion

    #region Thermal

    public enum ThermalMode
    {
        TEMPERATURE = 0,
        TEMPERTURE = 0,
        GREY = 1
    }

    public void SetThermalMode(ThermalMode mode)
    {
        if (nxrSensorInstance != null)
        {
            if (thermalModeClass == null)
            {
                thermalModeClass = new AndroidJavaClass("ruiyue.nxrsensor.library.type.ThermalMode");
            }

            var modeObj = thermalModeClass.CallStatic<AndroidJavaObject>("valueOf", mode.ToString());
            nxrSensorInstance.Call("setThermalMode", modeObj);
        }
    }

    public bool Control(NxrDeviceSetting setting)
    {
        if (nxrSensorProInstance != null && setting != null)
        {
            var iso_value = setting.iso_value;
            var exp_abs = setting.exp_abs;
            var exp_mode = setting.exp_mode;
            var exp_level = setting.exp_level;
            var exp_anti = setting.exp_anti;
            var iso_mode = setting.iso_mode;
            var awb_mode = setting.awb_mode;
            var awb_lock = setting.awb_lock;
            var af_mode = setting.af_mode;
            var af_dist = setting.af_dist;
            var cmd = setting.cmd;
            var val = setting.val;
            var val16 = setting.val16;
            var val32 = setting.val32;
            return nxrSensorProInstance.Call<bool>("control", iso_value, exp_abs, exp_mode, exp_level, exp_anti,
                iso_mode, awb_mode, awb_lock, af_mode, af_dist, cmd, val, val16, val32);
        }

        return false;
    }

    public class NxrDeviceSetting
    {
        public int iso_value;

        public int exp_abs;

        public int exp_mode;

        public int exp_level;

        public int exp_anti;

        public int iso_mode;

        public int awb_mode;

        public int awb_lock;

        public int af_mode;

        public int af_dist;

        public int cmd;

        public int[] val;

        public int val16;

        public int val32;
    }

    public bool UvcWriteAndRead(byte[] write, int wLen, byte[] read, int rLen)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("uvcWriteAndRead", write, wLen, read, rLen);
        }

        return false;
    }

    public bool VscWriteAndRead(byte[] write, int wLen, byte[] read, int rLen)
    {
        if (nxrSensorInstance != null)
        {
            return nxrSensorInstance.Call<bool>("vscWriteAndRead", write, wLen, read, rLen);
        }

        return false;
    }

    #endregion
}