public static void Loop()
{
if (Program.RealSenseEnabled && RealSenseCamera.PollForFrames(null, OnPointCloud))
{
if (!Ready)
{
Ready = true;
}
}
}
/// <summary>
/// Loop to query data from the Realsense camera with RealSenseCamera.PollForFrames
/// </summary>
public static void Loop()
{
// Custom made wrapper funtion to poll for frames (point cloud) from the Real Sense Camera.
if (Program.RealSenseEnabled && RealSenseCamera.PollForFrames(null, OnPointCloud))
{
if (!Ready) // This sets the variable ready to true after the first point cloud frame is recieved. Because other parts of the code cannot work until there is some data from the camera.
{
Ready = true;
}
}
}
public override void Load()
{
AddButton("Exit", () => Engine.CreateYesNoPrompt("Exit Program?", () => Environment.Exit(0)).Center((Engine.Window.WindowSize / 2)));
AddButton("Stop", RealSenseCamera.Stop);
AddButton("Start", RealSenseCamera.Start);
Engine.Camera3D.SetPerspective(Engine.Window.WindowSize, (90.0f).ToRad(), NearClip, 100);
LegShader = new ShaderProgram(new ShaderStage(ShaderType.VertexShader, "content/shaders/leg.vert"),
new ShaderStage(ShaderType.FragmentShader, "content/shaders/leg.frag"));
VertsMesh = new Mesh3D();
VertsMesh.PrimitiveType = PrimitiveType.Points;
VertsMesh.SetVertices(new Vertex3());
// Variables
Sparse = ConVar.Register(nameof(Sparse).ToLower(), 0); // 3
LegLength = ConVar.Register(nameof(LegLength).ToLower(), 100.0f); // 1.0f
LegWidth = ConVar.Register(nameof(LegWidth).ToLower(), 100.0f); // 0.5f
PickDistance = ConVar.Register(nameof(PickDistance).ToLower(), 1.0f);
PickSize = ConVar.Register(nameof(PickSize).ToLower(), 0.01f); // 0.025f
PickSampleNum = ConVar.Register(nameof(PickSampleNum).ToLower(), 10); // 10
ConCmd.Register("list", (Argv) => {
GConsole.WriteLine(Sparse);
GConsole.WriteLine(LegLength);
GConsole.WriteLine(LegWidth);
GConsole.WriteLine(PickDistance);
GConsole.WriteLine(PickSize);
GConsole.WriteLine(PickSampleNum);
});
Thread PollingThread = new Thread(() => {
while (true)
{
RealSenseCamera.PollForFrames(OnPointCloud: OnPointCloud);
Thread.Sleep(0);
}
});
PollingThread.IsBackground = true;
PollingThread.Start();
Engine.Camera3D.Position = new Vector3(0, 0, -1);
Engine.Camera3D.LookAt(Vector3.Zero);
Engine.Camera3D.Position = new Vector3(0, 0, -NearClip);
}
