/// <summary>
/// Override of ILocalizer.
/// </summary>
public void UpdateLocalizer()
{
if (_slamInterop != null)
{
_slamInterop.TargetGO = _targetGO;
_slamInterop.Update(_fromCompositor);
if (_loadMapAtInitRequested && SensorsReady() )
{
LoadSlamMap(_loadMapName);
_loadMapAtInitRequested = false;
_waitForSlamLoadingCoroutine = StartCoroutine(WaitForSlamLoading());
}
_slamInterop.GetTrackingStatus(out _status);
ProcessSlamFeedback(_status, _lastStatus);
_lastStatus = _status;
if (_rotationOnlyTracking != _rotationOnlyTrackingPrevious)
{
if (_rotationOnlyTracking)
{
onSlamTrackingLost.Invoke();
}
else
{
onSlamTrackingRelocalized.Invoke();
}
ToggleRotationOnlyTracking();
_rotationOnlyTrackingPrevious = _rotationOnlyTracking;
}
}
}
/// <summary>
/// Override of ILocalizer.
/// </summary>
public void UpdateLocalizer()
{
bool slamIsReady = SlamFeedback.FilterReady && SlamFeedback.TrackingReady && (SlamFeedback.percent_initialized == 100);
if (_slamInterop != null)
{
_slamInterop.TargetGO = _targetGO;
_slamInterop.Update(slamIsReady, _fromCompositor);
if (_loadMapAtInitRequested && SlamFeedback.CameraReady)
{
LoadSlamMap(_loadMapName);
_loadMapAtInitRequested = false;
_waitForSlamLoadingCoroutine = StartCoroutine(WaitForSlamLoading());
}
if (_enableJsonFeedback && SlamFeedback != null)
{
_lastSlamFeedback.ParseStruct(_feedbackStruct);
_slamInterop.GetSlamFeedback(out _feedbackStruct);
SlamFeedback.ParseStruct(_feedbackStruct);
ProcessSlamFeedback(SlamFeedback, _lastSlamFeedback);
}
if (_rotationOnlyTracking != _rotationOnlyTrackingPrevious)
{
if (_rotationOnlyTracking)
{
onSlamTrackingLost.Invoke();
}
else
{
onSlamTrackingRelocalized.Invoke();
}
ToggleRotationOnlyTracking();
_rotationOnlyTrackingPrevious = _rotationOnlyTracking;
}
}
}
