//System.Threading.Thread grab_thread = null;
//volatile bool running = true;
//volatile bool isCalculated = false;
//System.Threading.Mutex protect;
//void grab()
//{
// while (running)
// {
// if (isCalculated == false && zedCamera.Grab(sl.zed.ZEDCamera.SENSING_MODE.FILL) == 0)
// {
// isCalculated = true;
// }
// }
//}
// Use this for initialization
void Awake()
{
zedCamera = sl.zed.ZEDCamera.GetInstance();
//Initialize the camera in performance mode.
if (!init)
{
//Create a camera
zedCamera.CreateCamera(resolutionMode, requestedFPS);
Debug.Log("ZED SDK Version " + sl.zed.ZEDCamera.GetSDKVersion());
sl.zed.ZEDCamera.ERRCODE e = zedCamera.Init(computingMode);
if (e != sl.zed.ZEDCamera.ERRCODE.SUCCESS)
{
throw new Exception("Initialization failed " + e.ToString());
}
init = true;
}
pos = IdentityMatrix();
if (this.tracking)
{
//Enables the tracking
if (!(this.tracking = zedCamera.EnableTracking(pos, false)))
{
throw new Exception("Error, tracking not available");
}
}
//grab_thread = new System.Threading.Thread(grab);
//grab_thread.Start();
//System.Threading.Mutex protect = new System.Threading.Mutex();
}
void OnApplicationQuit()
{
if (zedCamera != null)
{
zedCamera.Destroy();
}
zedCamera = null;
}
void OnApplicationQuit()
{
//running = false;
//grab_thread.Join();
if (zedCamera != null)
{
zedCamera.Destroy();
}
zedCamera = null;
}
void Start()
{
mainCamera = GetComponent <Camera>();
mat = screen.GetComponent <Renderer>().material;
sl.zed.ZEDCamera zedCamera = sl.zed.ZEDCamera.GetInstance();
if (zedCamera.CameraIsReady && gameObject.transform.parent.GetComponent <ZEDManager>().tracking)
{
mainCamera.ResetProjectionMatrix();
mainCamera.projectionMatrix = zedCamera.Projection;
scale(screen.gameObject, zedCamera.GetFOV());
}
else
{
scale(screen.gameObject, mainCamera.fieldOfView * Mathf.Deg2Rad);
}
mat.SetTexture("_MainTex", zedCamera.CreateTextureImageType(sl.zed.ZEDCamera.SIDE.LEFT));
}
void Start()
{
mainCamera = GetComponent <Camera>();
//Set textures to the shader
matRGB = screen.GetComponent <Renderer>().material;
sl.zed.ZEDCamera zedCamera = sl.zed.ZEDCamera.GetInstance();
//Create two textures and fill them with the ZED computed images
if (side == sl.zed.ZEDCamera.SIDE.LEFT_GREY || side == sl.zed.ZEDCamera.SIDE.RIGHT_GREY || side == sl.zed.ZEDCamera.SIDE.LEFT_UNRECTIFIED_GREY || side == sl.zed.ZEDCamera.SIDE.RIGHT_UNRECTIFIED_GREY)
{
matRGB.SetInt("_isGrey", 1);
}
else
{
matRGB.SetInt("_isGrey", 0);
}
camZedLeft = zedCamera.CreateTextureImageType(side);
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.zed.ZEDCamera.MEASURE.XYZ);
matRGB.SetTexture("_CameraTex", camZedLeft);
matRGB.SetTexture("_DepthXYZTex", depthXYZZed);
Matrix4x4 projectionMatrixQuad = zedCamera.Projection;
projectionMatrixQuad[0, 2] = 0;
projectionMatrixQuad[1, 2] = 0;
matRGB.SetMatrix("_ProjectionMatrix", sl.zed.ZEDCamera.FormatProjectionMatrix(projectionMatrixQuad, mainCamera.actualRenderingPath));
//Set a new projection matrix to this camera, it's used by the tracking
if (zedCamera.CameraIsReady && gameObject.transform.parent.GetComponent <ZEDManager>().tracking)
{
mainCamera.ResetProjectionMatrix();
mainCamera.fieldOfView = (zedCamera.GetFOV() / Mathf.PI) * 180.0f;
mainCamera.projectionMatrix = zedCamera.Projection;
scale(screen.gameObject, zedCamera.GetFOV());
}
else
{
scale(screen.gameObject, mainCamera.fieldOfView * Mathf.Deg2Rad);
}
}
public ZEDEditor()
{
zedCamera = sl.zed.ZEDCamera.GetInstance();
}
