public static RGBRawDataFrame GetRGBFrame()
{
if (Time.frameCount != _lastFrame)
{
_currentFrame = m_RGBFrames.Dequeue();
_lastFrame = Time.frameCount;
}
return(_currentFrame);
}
public static RGBRawDataFrame GetRGBFrame()
{
if (Time.frameCount != m_LastFrame && m_RGBFrames.Count > 0)
{
m_CurrentFrame = m_RGBFrames.Dequeue();
m_LastFrame = Time.frameCount;
}
return(m_CurrentFrame);
}
protected override void OnLoadRawTextureData(RGBRawDataFrame rgbRawDataFrame)
{
m_Texture.LoadRawTextureData(rgbRawDataFrame.data);
m_Texture.Apply();
CurrentFrame.timeStamp = rgbRawDataFrame.timeStamp;
CurrentFrame.texture = m_Texture;
FrameCount++;
OnUpdate?.Invoke(CurrentFrame);
}
public void Enqueue(RGBRawDataFrame obj)
{
lock (m_LockObj)
{
m_Queue.Enqueue(obj);
if (m_Queue.Count > Limit)
{
var frame = m_Queue.Dequeue();
m_ObjectPool.Put <RGBRawDataFrame>(frame);
}
}
}
public static bool MakeSafe(IntPtr textureptr, int size, UInt64 timestamp, ref RGBRawDataFrame frame)
{
if (textureptr == IntPtr.Zero || size <= 0)
{
return(false);
}
if (frame.data == null || frame.data.Length != size)
{
frame.data = new byte[size];
}
frame.timeStamp = timestamp;
Marshal.Copy(textureptr, frame.data, 0, size);
return(true);
}
private void UpdateTexture()
{
if (!DidUpdateThisFrame || !IsPlaying)
{
return;
}
RGBRawDataFrame rgbRawDataFrame = NRRgbCamera.GetRGBFrame();
if (rgbRawDataFrame.data == null)
{
Debug.LogError("Get Rgb camera data faild...");
return;
}
OnLoadRawTextureData(rgbRawDataFrame);
}
private void UpdateTexture()
{
if (!NRRgbCamera.HasFrame())
{
return;
}
RGBRawDataFrame rgbRawDataFrame = NRRgbCamera.GetRGBFrame();
m_texture.LoadRawTextureData(rgbRawDataFrame.data);
m_texture.Apply();
CurrentFrame.timeStamp = rgbRawDataFrame.timeStamp;
CurrentFrame.texture = m_texture;
FrameCount++;
OnUpdate?.Invoke(CurrentFrame);
}
private static void QueueFrame(IntPtr textureptr, int size, UInt64 timestamp)
{
if (!isRGBCamStart)
{
NRDebugger.LogError("rgb camera not stopped properly, it still sending data.");
return;
}
RGBRawDataFrame frame = FramePool.Get <RGBRawDataFrame>();
bool result = RGBRawDataFrame.MakeSafe(TexturePtr, size, timestamp, ref frame);
if (result)
{
m_RGBFrames.Enqueue(frame);
}
else
{
FramePool.Put <RGBRawDataFrame>(frame);
}
}
private void UpdateTexture()
{
if (!NRRgbCamera.HasFrame())
{
return;
}
RGBRawDataFrame rgbRawDataFrame = NRRgbCamera.GetRGBFrame();
if (m_texture == null || m_texture.width != NRRgbCamera.Resolution.width ||
m_texture.height != NRRgbCamera.Resolution.height)
{
m_texture = new Texture2D(NRRgbCamera.Resolution.width, NRRgbCamera.Resolution.height, TextureFormat.RGB24, false);
}
m_texture.LoadRawTextureData(rgbRawDataFrame.data);
m_texture.Apply();
CurrentFrame.timeStamp = rgbRawDataFrame.timeStamp;
CurrentFrame.texture = m_texture;
if (OnUpdate != null)
{
OnUpdate(CurrentFrame);
}
}
/// <summary>
/// Load raw texture data.
/// </summary>
/// <param name="rgbRawDataFrame"></param>
protected virtual void OnLoadRawTextureData(RGBRawDataFrame rgbRawDataFrame)
{
}
