// Update is called once per frame
void Update()
{
_recordedTransform.position = dce.position;
_recordedTransform.rotation = dce.rotation;
RGBDStreamEventArgs evArgs = PollEventQueue();
if (evArgs != null && RGBDStreamEvent != null)
{
RGBDStreamEvent(this, evArgs);
}
if (_state == RGBD_STATE.IDLE && last_idle + 2.0f < Time.time)
{
RequestConfig();
last_idle = Time.time;
}
RGBDBodyFrame f = DequeueBodyFrame();
while (f != null)
{
if (!_trackedBodies.ContainsKey(f.trackingID) || _trackedBodies[f.trackingID] == null)
{
GameObject newBody = Instantiate(bodyPrefab, sfs.cameraTransform);
newBody.transform.localPosition = Vector3.zero;
newBody.transform.localRotation = Quaternion.identity;
_trackedBodies.Add(f.trackingID, newBody.GetComponent <RGBDBody>());
}
_trackedBodies[f.trackingID].ApplyFrame(f);
f = DequeueBodyFrame();
}
}
private RGBDStreamEventArgs PollEventQueue()
{
RGBDStreamEventArgs res = null;
lock (_eventQueueLock) {
if (_eventQueue.Count > 0)
{
res = _eventQueue.Dequeue();
}
}
return(res);
}
private void QueueEvent(RGBDStreamEventArgs ev)
{
lock (_bodyFramesLock) {
_eventQueue.Enqueue(ev);
}
}
