private void AcquireImages()
{
if (requestNewFrame && zedReady)
{
/// call grab() to request a new frame
sl.ERROR_CODE e = zedCamera.Grab(ref runtimeParameters);
lock (grabLock)
{
if (e == sl.ERROR_CODE.CAMERA_NOT_DETECTED)
{
Debug.Log("Camera not detected or disconnected.");
isDisconnected = true;
Thread.Sleep(10);
requestNewFrame = false;
}
else if (e == sl.ERROR_CODE.SUCCESS)
{
//Save the timestamp
cameraTimeStamp = zedCamera.GetCameraTimeStamp();
#if UNITY_EDITOR
float camera_fps = zedCamera.GetCameraFPS();
cameraFPS = camera_fps.ToString() + "Fps";
if (camera_fps <= FPS * 0.8)
{
cameraFPS += " WARNING: Low USB bandwidth detected";
}
#endif
//Get position of camera
if (isTrackingEnable)
{
zedtrackingState = zedCamera.GetPosition(ref zedOrientation, ref zedPosition, ref rotationOffset, ref positionOffset);
}
else
{
zedtrackingState = sl.TRACKING_STATE.TRACKING_OFF;
}
// Indicate that a new frame is available and pause the thread until a new request is called
newFrameAvailable = true;
requestNewFrame = false;
}
}
}
else
{
//to avoid "overheat"
Thread.Sleep(1);
}
}
private void AcquireImages()
{
if (requestNewFrame && zedReady)
{
sl.ERROR_CODE e = sl.ERROR_CODE.NOT_A_NEW_FRAME;
// Live or SVO ? if SVO is in pause, don't need to call grab again since image will not change
if (zedSVOManager == null)
{
e = zedCamera.Grab(ref runtimeParameters);
}
else
{
if (!zedSVOManager.pause)
{
e = zedCamera.Grab(ref runtimeParameters);
}
else
{
if (zedSVOManager.NeedNewFrameGrab)
{
e = zedCamera.Grab(ref runtimeParameters);
zedSVOManager.NeedNewFrameGrab = false;
}
else
{
e = sl.ERROR_CODE.SUCCESS;
}
}
}
lock (grabLock)
{
if (e == sl.ERROR_CODE.CAMERA_NOT_DETECTED)
{
Debug.Log("Camera not detected or disconnected.");
isDisconnected = true;
Thread.Sleep(10);
requestNewFrame = false;
}
else if (e == sl.ERROR_CODE.SUCCESS)
{
//Save the timestamp
cameraTimeStamp = zedCamera.GetCameraTimeStamp();
#if UNITY_EDITOR
float camera_fps = zedCamera.GetCameraFPS();
cameraFPS = camera_fps.ToString() + "Fps";
if (camera_fps <= FPS * 0.8)
{
cameraFPS += " WARNING: Low USB bandwidth detected";
}
#endif
//Get position of camera
if (isTrackingEnable)
{
zedtrackingState = zedCamera.GetPosition(ref zedOrientation, ref zedPosition, sl.TRACKING_FRAME.LEFT_EYE);
}
else
{
zedtrackingState = sl.TRACKING_STATE.TRACKING_OFF;
}
// Indicate that a new frame is available and pause the thread until a new request is called
newFrameAvailable = true;
requestNewFrame = false;
}
else
{
Thread.Sleep(1);
}
}
}
else
{
//to avoid "overheat"
Thread.Sleep(1);
}
}
