/// <summary>
/// Gets the normal vector (the direction a surface is pointing) at a given screen-space pixel (i,j).
/// The normal can be given relative to the camera or the world. Returns false if outside camera's view frustum.
/// </summary>
/// <param name="pixel">Pixel coordinates.</param>
/// <param name="reference_frame">Reference frame given by the enum sl.REFERENCE_FRAME.</param>
/// <param name="cam">Unity Camera used for world-camera space conversion.</param>
/// <out>Normal to be filled.</out>
/// <returns>True if successful, false otherwise.</returns>
public static bool GetNormalAtPixel(sl.ZEDCamera zedCam, Vector2 pixel, sl.REFERENCE_FRAME reference_frame, Camera cam, out Vector3 normal)
{
normal = Vector3.zero;
if (zedCam == null)
{
return(false);
}
Vector4 n;
bool r = zedCam.GetNormalValue(new Vector3(pixel.x, pixel.y, 0), out n);
switch (reference_frame)
{
case sl.REFERENCE_FRAME.CAMERA: //Relative to the provided camera.
normal = n;
break;
case sl.REFERENCE_FRAME.WORLD: //Relative to the world.
normal = cam.transform.TransformDirection(n);
break;
default:
normal = Vector3.zero;
break;
}
return(r);
}
/// <summary>
/// Launches a grab and update the listeners
/// </summary>
/// <param name="mode"></param>
public void Update(sl.SENSING_MODE mode, bool depth = true, sl.REFERENCE_FRAME reference = sl.REFERENCE_FRAME.CAMERA)
{
if (!isThreaded)
{
if (!pauseThread && sl.ZEDCamera.GetInstance().Grab(mode, depth, reference) == sl.ERROR_CODE.SUCCESS)
{
SendEventGrab();
}
}
else
{
Broadcast();
grabParameters.mode = mode;
}
}
/// <summary>
/// Get the Normal vector at a world position (x,y,z). the Normal can be given regarding camera reference or in the world reference.
/// </summary>
/// <param name="position"> world position</param>
/// <param name="reference_frame"> Reference frame given by the enum sl.REFERENCE_FRAME</param>
/// <param name="cam"> Unity Camera (to access world to camera transform</param>
/// <out> normal vector that will be filled </out>
/// <returns> true if success, false otherwie</returns>
public static bool GetNormalAtWorldLocation(Vector3 position, sl.REFERENCE_FRAME reference_frame, Camera cam, out Vector3 normal)
{
Vector4 n;
bool r = sl.ZEDCamera.GetInstance().GetNormalValue(cam.WorldToScreenPoint(position), out n);
switch (reference_frame)
{
case sl.REFERENCE_FRAME.CAMERA:
normal = n;
break;
case sl.REFERENCE_FRAME.WORLD:
normal = cam.transform.TransformDirection(n);
break;
default:
normal = Vector3.zero;
break;
}
return(r);
}
/***********************************************************************************************
******************** BASIC "GET" FUNCTIONS ****************************
***********************************************************************************************/
/// <summary>
/// Get the Normal vector at a given pixel (i,j). the Normal can be given regarding camera reference or in the world reference.
/// </summary>
/// <param name="pixel"> position of the pixel</param>
/// <param name="reference_frame"> Reference frame given by the enum sl.REFERENCE_FRAME</param>
/// <param name="cam"> Unity Camera (to access world to camera transform</param>
/// <out> normal that will be filled </out>
/// <returns> true if success, false otherwie</returns>
public static bool GetNormalAtPixel(Vector2 pixel, sl.REFERENCE_FRAME reference_frame, Camera cam, out Vector3 normal)
{
Vector4 n;
bool r = sl.ZEDCamera.GetInstance().GetNormalValue(new Vector3(pixel.x, pixel.y, 0), out n);
switch (reference_frame)
{
case sl.REFERENCE_FRAME.CAMERA:
normal = n;
break;
case sl.REFERENCE_FRAME.WORLD:
normal = cam.transform.TransformDirection(n);
break;
default:
normal = Vector3.zero;
break;
}
return(r);
}
