void Update()
{
try
{
if (_streamReader.TryOpenFrame(10, out var frame))
{
using (frame)
{
if (BodyTrackingEnabled)
{
var bodyFrame = frame.GetFrame <Astra.BodyFrame>();
bodyFrame.CopyBodyData(ref _bodies);
OnBodyTrackEvent?.Invoke(_bodies);
}
if (DepthEnabled)
{
AstraSdkInterop.SetDepthRegistration(_depthStream, HasDepthRegistration);
var _depthFrame = frame.GetFrame <Astra.DepthFrame>();
OnDepthFrameEvent?.Invoke(_depthFrame);
}
if (ColorEnabled)
{
var _colorFrame = frame.GetFrame <Astra.ColorFrame>();
OnColorFrameEvent?.Invoke(_colorFrame);
}
}
}
}
catch (Astra.AstraException exc)
{
// As a rule, exception here means that sensor was unplugged.
print(exc.Message);
return;
}
}
void Start()
{
// set up Astra
AstraDotNetAssemblyResolver.Init();
Astra.Context.Initialize();
AstraSdkInterop.SetLicenceKey("<INSERT YOUR LICENCE KEY>");
var connectionString = $"device/sensor{SENSOR_INDEX}";
_streamSet = Astra.StreamSet.Open(connectionString);
_streamReader = _streamSet.CreateReader();
// set up body stream
if (BodyTrackingEnabled)
{
_bodyStream = _streamReader.GetStream <Astra.BodyStream>();
_bodyStream.Start();
}
// set up depth stream
if (DepthEnabled)
{
_depthStream = _streamReader.GetStream <Astra.DepthStream>();
var mode = _depthStream.AvailableModes
.FirstOrDefault(m =>
m.FramesPerSecond == AstraConstants.Fps &&
m.Width == AstraConstants.Width &&
m.Height == AstraConstants.Height);
if (mode != null)
{
_depthStream.SetMode(mode);
}
else
{
UnityEngine.Debug.LogWarning("Depth mode defined in AstraConstants not available on camera");
}
_depthStream.Start();
}
// set up color stream
if (ColorEnabled)
{
_colorStream = _streamReader.GetStream <Astra.ColorStream>();
var mode = _colorStream.AvailableModes
.FirstOrDefault(m =>
m.FramesPerSecond == AstraConstants.Fps &&
m.Width == AstraConstants.Width &&
m.Height == AstraConstants.Height);
if (mode != null)
{
_colorStream.SetMode(mode);
}
else
{
UnityEngine.Debug.LogWarning("Color mode defined in AstraConstants not available on camera");
}
_colorStream.Start();
}
}
