public void Grab()
{
if (zedCamera != null)
{
if (tracking)
{
UpdateTracking();
}
if (videoOverlay)
{
zedCamera.UpdateTextures();
}
// print ("Distance is approx.:" + (get_depth())+ " in");
if (zedSVOManager != null)
{
if (zedSVOManager.record)
{
zedCamera.Record();
}
if (zedSVOManager.read)
{
zedSVOManager.CurrentFrame = zedCamera.GetSVOPosition();
}
if (zedSVOManager.read && zedSVOManager.loop)
{
if (zedCamera.GetSVOPosition() >= zedCamera.GetSVONumberOfFrames() - 2)
{
zedCamera.SetSVOPosition(0);
if (tracking)
{
zedCamera.DisableTracking();
Quaternion quat = Quaternion.identity;
Vector3 vec = new Vector3(0, 0, 0);
if (!(tracking = (zedCamera.EnableTracking(ref quat, ref vec, spatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
throw new Exception("Error, tracking not available");
}
transform.localPosition = positionInit;
transform.localRotation = rotationInit;
}
}
}
}
}
}
// Update is called once per frame
void Update()
{
if (zedCamera != null)
{
if (isThreaded || zedCamera.Grab() == 0)
{
if (tracking)
{
UpdateTracking();
}
if (videoOverlay)
{
zedCamera.UpdateTextures();
}
if (ZedSVOManager != null)
{
if (ZedSVOManager.record)
{
zedCamera.Record();
}
if (ZedSVOManager.read && ZedSVOManager.loop)
{
if (zedCamera.GetSVOPosition() >= zedCamera.GetSVONumberOfFrames() - 2)
{
zedCamera.SetSVOPosition(0);
if (tracking)
{
zedCamera.DisableTracking();
Quaternion quat = Quaternion.identity;
Vector3 vec = new Vector3(0, 0, 0);
if (!(tracking = (zedCamera.EnableTracking(ref quat, ref vec, spatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
throw new Exception("Error, tracking not available");
}
transform.localPosition = positionInit;
transform.localRotation = rotationInit;
}
}
}
}
}
}
}
void OnValidate()
{
if (zedCamera != null)
{
if (!isTrackingEnable && enableTracking)
{
//Enables the tracking and initializes the first position of the camera
enablePoseSmoothing = enableSpatialMemory;
if (!(enableTracking = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, enablePoseSmoothing, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
isZEDTracked = false;
throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
}
else
{
isZEDTracked = true;
isTrackingEnable = true;
}
}
if (isTrackingEnable && !enableTracking)
{
isZEDTracked = false;
lock (grabLock)
{
zedCamera.DisableTracking();
}
isTrackingEnable = false;
}
setRenderingSettings();
}
}
void OnValidate()
{
if (zedCamera != null)
{
if (!isTrackingEnable && enableTracking)
{
//Enables the tracking and initializes the first position of the camera
Quaternion quat = Quaternion.identity;
Vector3 vec = new Vector3(0, 0, 0);
enablePoseSmoothing = enableSpatialMemory;
if (!(enableTracking = (zedCamera.EnableTracking(ref quat, ref vec, enableSpatialMemory, enablePoseSmoothing, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
isZEDTracked = false;
throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
}
else
{
isZEDTracked = true;
isTrackingEnable = true;
}
}
if (isTrackingEnable && !enableTracking)
{
isZEDTracked = false;
lock (grabLock) {
zedCamera.DisableTracking();
}
isTrackingEnable = false;
}
//Create ZEDTextureOverlay object to handle left images
ZEDRenderingPlane textureLeftOverlay = GetLeftCameraTransform().GetComponent <ZEDRenderingPlane>();
textureLeftOverlay.SetPostProcess(postProcessing);
Shader.SetGlobalFloat("_ZEDFactorAffectReal", cameraBrightness);
//Create ZEDTextureOverlay object to handle Right images if a right camera is present
if (IsStereoRig)
{
ZEDRenderingPlane textureRightOverlay = GetRightCameraTransform().GetComponent <ZEDRenderingPlane>();
textureRightOverlay.SetPostProcess(postProcessing);
}
if (renderingPath == ZEDRenderingMode.FORWARD)
{
if (depthOcclusion)
{
textureLeftOverlay.ManageKeyWordPipe(false, "NO_DEPTH_OCC");
if (IsStereoRig)
{
textureLeftOverlay.ManageKeyWordPipe(false, "NO_DEPTH_OCC");
}
}
else
{
textureLeftOverlay.ManageKeyWordPipe(true, "NO_DEPTH_OCC");
if (IsStereoRig)
{
textureLeftOverlay.ManageKeyWordPipe(true, "NO_DEPTH_OCC");
}
}
}
else if (renderingPath == ZEDRenderingMode.DEFERRED)
{
if (depthOcclusion)
{
textureLeftOverlay.ManageKeyWordDefferedMat(false, "NO_DEPTH_OCC");
if (IsStereoRig)
{
textureLeftOverlay.ManageKeyWordDefferedMat(false, "NO_DEPTH_OCC");
}
}
else
{
textureLeftOverlay.ManageKeyWordDefferedMat(true, "NO_DEPTH_OCC");
if (IsStereoRig)
{
textureLeftOverlay.ManageKeyWordDefferedMat(true, "NO_DEPTH_OCC");
}
}
}
}
}
