// Render loop
private void NativeWindow_Render(object sender, NativeWindowEventArgs e)
{
OpenGL.CoreUI.NativeWindow nativeWindow = (OpenGL.CoreUI.NativeWindow)sender;
Gl.Viewport(0, 0, (int)nativeWindow.Width, (int)nativeWindow.Height);
Gl.Clear(ClearBufferMask.ColorBufferBit);
ERROR_CODE err = ERROR_CODE.FAILURE;
if (viewer.isAvailable() && zedCamera.Grab(ref runtimeParameters) == ERROR_CODE.SUCCESS)
{
if (zedMat.IsInit())
{
// Retrieve left image
err = zedCamera.RetrieveImage(zedMat, sl.VIEW.LEFT, sl.MEM.CPU);
// Update pose data (used for projection of the mesh over the current image)
tracking_state = zedCamera.GetPosition(ref cam_pose);
if (tracking_state == POSITIONAL_TRACKING_STATE.OK)
{
timer++;
if (userAction.hit)
{
Vector2 imageClick = new Vector2((float)userAction.hitCoord.X * (float)zedCamera.ImageWidth, (float)userAction.hitCoord.Y * (float)zedCamera.ImageHeight);
findPlaneStatus = zedCamera.findPlaneAtHit(ref plane, imageClick);
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
zedCamera.convertHitPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles);
}
userAction.clear();
}
//if 500ms have spend since last request (for 60fps)
if (timer % 30 == 0 && userAction.pressSpace)
{
// Update pose data (used for projection of the mesh over the current image)
Quaternion priorQuat = Quaternion.Identity;
Vector3 priorTrans = Vector3.Zero;
findPlaneStatus = zedCamera.findFloorPlane(ref plane, out float playerHeight, priorQuat, priorTrans);
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
zedCamera.convertFloorPlaneToMesh(planeMeshVertices, planeMeshTriangles, out nbVertices, out nbTriangles);
}
userAction.clear();
}
}
if (findPlaneStatus == ERROR_CODE.SUCCESS)
{
viewer.updateMesh(planeMeshVertices, planeMeshTriangles, nbVertices, nbTriangles, plane.Type, plane.Bounds, userAction);
}
viewer.updateImageAndState(zedMat, cam_pose, tracking_state);
viewer.render();
}
}
}
