public Zed(InitParameters parameters = null, string svoPath = null)
{
camera = ZEDCamera.GetInstance();
mats = new List <ZEDMat>();
if (parameters == null)
{
parameters = new InitParameters();
parameters.resolution = RESOLUTION.HD720;
parameters.depthMode = DEPTH_MODE.QUALITY;
parameters.depthStabilization = true;
parameters.enableRightSideMeasure = true; // isStereoRig;
parameters.coordinateUnit = UNIT.MILLIMETER;
parameters.depthMinimumDistance = 200f;
//parameters.depthMinimumDistance = 0.2f;
}
if (svoPath != null)
{
parameters.pathSVO = svoPath;
}
this.initParameters = parameters;
// runtime parameters
runtimeParameters = new RuntimeParameters()
{
sensingMode = SENSING_MODE.FILL,
enableDepth = true
};
// create the camera
camera.CreateCamera(true);
}
private void Start()
{
manager = FindObjectOfType(typeof(ZEDManager)) as ZEDManager;
spatialMapping = new ZEDSpatialMapping(transform, ZEDCamera.GetInstance(), manager);
}
public override void OnInspectorGUI()
{
var cameraIsReady = ZEDCamera.GetInstance().IsCameraReady;
displayText = ZEDSpatialMapping.display ? "Hide Mesh" : "Display Mesh";
serializedObject.Update();
EditorGUILayout.BeginHorizontal();
GUILayout.Label("Mesh Parameters", EditorStyles.boldLabel);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
GUILayout.FlexibleSpace();
EditorGUILayout.EndHorizontal();
var newResolution =
(ZEDSpatialMapping.RESOLUTION)EditorGUILayout.EnumPopup("Resolution", spatialMapping.resolution_preset);
if (newResolution != spatialMapping.resolution_preset)
{
resolution.enumValueIndex = (int)newResolution;
serializedObject.ApplyModifiedProperties();
}
var newRange = (ZEDSpatialMapping.RANGE)EditorGUILayout.EnumPopup("Range", spatialMapping.range_preset);
if (newRange != spatialMapping.range_preset)
{
range.enumValueIndex = (int)newRange;
serializedObject.ApplyModifiedProperties();
}
EditorGUILayout.BeginHorizontal();
filterParameters.enumValueIndex =
(int)(FILTER)EditorGUILayout.EnumPopup("Mesh Filtering", (FILTER)filterParameters.enumValueIndex);
isFilteringEnable.boolValue = true;
EditorGUILayout.EndHorizontal();
GUI.enabled = !spatialMapping.IsRunning;
isTextured.boolValue = EditorGUILayout.Toggle("Texturing", isTextured.boolValue);
GUI.enabled = cameraIsReady;
EditorGUILayout.BeginHorizontal();
if (!spatialMapping.IsRunning)
{
if (GUILayout.Button("Start Spatial Mapping"))
{
if (!ZEDSpatialMapping.display)
{
spatialMapping.SwitchDisplayMeshState(true);
}
spatialMapping.StartSpatialMapping();
}
}
else
{
if (spatialMapping.IsRunning && !spatialMapping.IsUpdateThreadRunning ||
spatialMapping.IsRunning && spatialMapping.IsTexturingRunning)
{
GUILayout.FlexibleSpace();
GUILayout.Label("Spatial mapping is finishing");
Repaint();
GUILayout.FlexibleSpace();
}
else
{
if (GUILayout.Button("Stop Spatial Mapping"))
{
spatialMapping.StopSpatialMapping();
}
}
}
EditorGUILayout.EndHorizontal();
GUI.enabled = cameraIsReady;
if (GUILayout.Button(displayText))
{
spatialMapping.SwitchDisplayMeshState(!ZEDSpatialMapping.display);
}
GUI.enabled = true;
GUILayout.Label("Mesh Storage", EditorStyles.boldLabel);
saveWhenOver.boolValue = EditorGUILayout.Toggle("Save Mesh (when stop)", saveWhenOver.boolValue);
EditorGUILayout.BeginHorizontal();
meshPath.stringValue = EditorGUILayout.TextField("Mesh Path", meshPath.stringValue);
if (GUILayout.Button("...", optionsButtonBrowse))
{
meshPath.stringValue = EditorUtility.OpenFilePanel("Mesh file", "", "ply,obj,bin");
serializedObject.ApplyModifiedProperties();
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
//GUI.enabled = cameraIsReady;
GUILayout.FlexibleSpace();
GUI.enabled = File.Exists(meshPath.stringValue) && cameraIsReady;
if (GUILayout.Button("Load"))
{
spatialMapping.LoadMesh(meshPath.stringValue);
}
EditorGUILayout.EndHorizontal();
serializedObject.ApplyModifiedProperties();
if (!cameraIsReady)
{
Repaint();
}
}
