// Update is called once per frame
void Update()
{
if (Frame.PointCloud.IsUpdatedThisFrame)
{
if (logger != null)
{
logger.text = "Have Points";
}
if (AddVoxels)
{
CameraImageBytes cim = Frame.CameraImage.AcquireCameraImageBytes();
for (int i = 0; i < Frame.PointCloud.PointCount; i++)
{
Color colour = new Color(0, 0, 0);
bool foundColour = false;
PointCloudPoint p = Frame.PointCloud.GetPointAsStruct(i);
Vector3 cameraCoordinates = arCamera.WorldToViewportPoint(p);
if (cim.IsAvailable)
{
var uvQuad = Frame.CameraImage.DisplayUvCoords;
int cx = (int)(cameraCoordinates.x * cim.Width);
int cy = (int)((1.0f - cameraCoordinates.y) * cim.Height);
colour = GetColourAt(cim, cx, cy, out foundColour);
}
if (foundColour)
{
tree.addPoint(p, colour);
}
}
cim.Release();
}
tree.renderOctTree(voxelParent);
}
else
{
if (logger != null)
{
logger.text = "No Points";
}
}
}