void Awake()
{
//Position later gets updated every update tracking call
positionInit = transform.localPosition;
position = positionInit;
isThreaded = multithreading;
zedCamera = sl.ZEDCamera.GetInstance();
ZedSVOManager = GetComponent <SVOManager>();
if (ZedSVOManager != null)
{
//Create a camera
if ((ZedSVOManager.read || ZedSVOManager.record) && ZedSVOManager.videoFile.Length == 0)
{
ZedSVOManager.record = false;
ZedSVOManager.read = false;
}
if (ZedSVOManager.read)
{
ZedSVOManager.record = false;
zedCamera.CreateCameraSVO(ZedSVOManager.videoFile);
}
else
{
zedCamera.CreateCameraLive(videoMode, FPS);
}
}
else
{
zedCamera.CreateCameraLive(videoMode, FPS);
}
Debug.Log("ZED SDK Version " + sl.ZEDCamera.GetSDKVersion());
//Initialize the camera in performance mode, make minimum depth
//be minDist meters to avoid inaccurate hand occlusions
sl.ERROR_CODE e = zedCamera.Init(depthMode, minDist);
if (e != sl.ERROR_CODE.SUCCESS)
{
throw new Exception("Initialization failed " + e.ToString());
}
if (ZedSVOManager != null)
{
if (ZedSVOManager.record)
{
if (zedCamera.EnableRecording(ZedSVOManager.videoFile) != sl.ERROR_CODE.SUCCESS)
{
ZedSVOManager.record = false;
}
}
}
}
void Awake()
{
positionInit = transform.localPosition;
rotationInit = transform.localRotation;
position = positionInit;
orientation = Quaternion.identity;
isThreaded = multithreading;
zedCamera = sl.ZEDCamera.GetInstance();
ZedSVOManager = GetComponent <SVOManager>();
if (ZedSVOManager != null)
{
//Create a camera
if ((ZedSVOManager.read || ZedSVOManager.record) && ZedSVOManager.videoFile.Length == 0)
{
ZedSVOManager.record = false;
ZedSVOManager.read = false;
}
if (ZedSVOManager.read)
{
ZedSVOManager.record = false;
zedCamera.CreateCameraSVO(ZedSVOManager.videoFile);
}
else
{
zedCamera.CreateCameraLive(videoMode, FPS);
}
}
else
{
zedCamera.CreateCameraLive(videoMode, FPS);
}
Debug.Log("ZED SDK Version " + sl.ZEDCamera.GetSDKVersion());
//Initialize the camera in performance mode.
sl.ERROR_CODE e = zedCamera.Init(depthMode);
if (e != sl.ERROR_CODE.SUCCESS)
{
throw new Exception("Initialization failed " + e.ToString());
}
if (ZedSVOManager != null)
{
if (ZedSVOManager.record)
{
if (zedCamera.EnableRecording(ZedSVOManager.videoFile) != sl.ERROR_CODE.SUCCESS)
{
ZedSVOManager.record = false;
}
}
}
}
/// <summary>
/// Init the SVO, and launch the thread to enable the tracking
/// </summary>
private void ZEDReady()
{
FPS = (int)zedCamera.GetRequestedCameraFPS();
if (enableTracking)
{
trackerThread = new Thread(EnableTrackingThreaded);
trackerThread.Start();
}
if (zedSVOManager != null)
{
if (zedSVOManager.record)
{
if (zedCamera.EnableRecording(zedSVOManager.videoFile, zedSVOManager.compressionMode) != sl.ERROR_CODE.SUCCESS)
{
zedSVOManager.record = false;
}
}
if (zedSVOManager.read)
{
zedSVOManager.NumberFrameMax = zedCamera.GetSVONumberOfFrames();
}
}
if (enableTracking)
{
trackerThread.Join();
}
if (isStereoRig && UnityEngine.XR.XRDevice.isPresent)
{
ZEDMixedRealityPlugin.Pose pose = ar.InitTrackingAR();
originPosition = pose.translation;
originRotation = pose.rotation;
zedRigRoot.localPosition = originPosition;
zedRigRoot.localRotation = originRotation;
if (!zedCamera.IsHmdCompatible && zedCamera.IsCameraReady)
{
Debug.LogWarning("WARNING : AR Passtrough with a ZED is not recommended. You may consider using the ZED-M, designed for that purpose");
}
}
else
{
originPosition = initialPosition;
originRotation = initialRotation;
}
#if UNITY_EDITOR
UnityEditor.EditorApplication.playmodeStateChanged = HandleOnPlayModeChanged;
#endif
}
/// <summary>
/// Init the SVO, and launch the thread to enable the tracking
/// </summary>
private void ZEDReady()
{
if (enableTracking)
{
trackerThread = new Thread(EnableTrackingThreaded);
trackerThread.Start();
}
if (zedSVOManager != null)
{
if (zedSVOManager.record)
{
if (zedCamera.EnableRecording(zedSVOManager.videoFile, zedSVOManager.compressionMode) != sl.ERROR_CODE.SUCCESS)
{
zedSVOManager.record = false;
}
}
if (zedSVOManager.read)
{
zedSVOManager.NumberFrameMax = zedCamera.GetSVONumberOfFrames();
}
}
if (enableTracking)
{
trackerThread.Join();
}
if (isStereoRig && UnityEngine.XR.XRDevice.isPresent)
{
ZEDMixedRealityPlugin.Pose pose = ar.InitTrackingAR();
originPosition = pose.translation;
originRotation = pose.rotation;
zedRigRoot.localPosition = originPosition;
zedRigRoot.localRotation = originRotation;
}
else
{
originPosition = initialPosition;
originRotation = initialRotation;
}
AdjustZEDRigCameraPosition();
#if UNITY_EDITOR
UnityEditor.EditorApplication.playmodeStateChanged = HandleOnPlayModeChanged;
#endif
}
/// <summary>
/// Init the SVOManager
/// </summary>
/// <param name="zedCamera"></param>
public void InitSVO(sl.ZEDCamera zedCamera)
{
if (record)
{
if (zedCamera.EnableRecording(videoFile, compressionMode) != sl.ERROR_CODE.SUCCESS)
{
record = false;
}
}
if (read)
{
NumberFrameMax = zedCamera.GetSVONumberOfFrames();
}
}
/// <summary>
/// Changes the value of record if recording fails, and gets the length of a read SVO file.
/// </summary>
/// <param name="zedCamera">Reference to the Scene's ZEDCamera instance.</param>
public void InitSVO(sl.ZEDCamera zedCamera)
{
if (record)
{
sl.ERROR_CODE svoerror = zedCamera.EnableRecording(videoFile, compressionMode);
if (svoerror != sl.ERROR_CODE.SUCCESS)
{
record = false;
}
else if (svoerror == sl.ERROR_CODE.SVO_RECORDING_ERROR)
{
Debug.LogError("SVO recording failed. Check that there is enough space on the drive and that the "
+ "path provided is valid.");
}
}
if (read)
{
NumberFrameMax = zedCamera.GetSVONumberOfFrames();
}
}
void Awake()
{
position = new Vector3(0, 0.0f, 0);
orientation = Quaternion.identity;
zedCamera = sl.ZEDCamera.GetInstance();
ZedSVOManager = GetComponent <SVOManager>();
if (ZedSVOManager != null)
{
//Create a camera
if ((ZedSVOManager.read || ZedSVOManager.record) && ZedSVOManager.videoFile.Length == 0)
{
ZedSVOManager.record = false;
ZedSVOManager.read = false;
}
if (ZedSVOManager.read)
{
ZedSVOManager.record = false;
zedCamera.CreateCameraSVO(ZedSVOManager.videoFile);
}
else
{
zedCamera.CreateCameraLive(resolution, 0.0f);
}
}
else
{
zedCamera.CreateCameraLive(resolution, 0.0f);
}
Debug.Log("ZED SDK Version " + sl.ZEDCamera.GetSDKVersion());
//Initialize the camera in performance mode.
sl.ERROR_CODE e = zedCamera.Init(sl.DEPTH_MODE.PERFORMANCE);
if (e != sl.ERROR_CODE.SUCCESS)
{
throw new Exception("Initialization failed " + e.ToString());
}
if (ZedSVOManager != null)
{
if (ZedSVOManager.record)
{
if (zedCamera.EnableRecording(ZedSVOManager.videoFile) != sl.ERROR_CODE.SUCCESS)
{
ZedSVOManager.record = false;
}
}
}
if (UnityEngine.VR.VRSettings.enabled)
{
headset = true;
UnityEngine.VR.InputTracking.Recenter();
}
else
{
headset = false;
cameraHeadOffset.y = 0;
cameraHeadOffset.z = 0;
Debug.LogWarning("This script needs the VR to work correctly");
}
}
void Awake()
{
isMoving = tracking;
positionInit = transform.localPosition;
rotationInit = transform.localRotation;
position = positionInit;
orientation = Quaternion.identity;
isThreaded = multithreading;
zedCamera = sl.ZEDCamera.GetInstance();
zedSVOManager = GetComponent <SVOManager>();
if (zedSVOManager != null)
{
//Create a camera
if ((zedSVOManager.read || zedSVOManager.record) && zedSVOManager.videoFile.Length == 0)
{
zedSVOManager.record = false;
zedSVOManager.read = false;
}
if (zedSVOManager.read)
{
zedSVOManager.record = false;
zedCamera.CreateCameraSVO(zedSVOManager.videoFile);
}
else
{
zedCamera.CreateCameraLive(resolution, FPS);
}
}
else
{
zedCamera.CreateCameraLive(resolution, FPS);
}
Debug.Log("ZED SDK Version " + sl.ZEDCamera.GetSDKVersion());
//Initialize the camera in performance mode.
sl.ERROR_CODE e = zedCamera.Init(depthMode);
if (e != sl.ERROR_CODE.SUCCESS)
{
throw new Exception("Initialization failed " + e.ToString());
}
if (zedSVOManager != null)
{
if (zedSVOManager.record)
{
if (zedCamera.EnableRecording(zedSVOManager.videoFile) != sl.ERROR_CODE.SUCCESS)
{
zedSVOManager.record = false;
}
}
if (zedSVOManager.read)
{
zedSVOManager.NumberFrameMax = zedCamera.GetSVONumberOfFrames();
}
}
Component[] cams = gameObject.transform.GetComponentsInChildren(typeof(Camera));
foreach (Camera cam in cams)
{
if (cam.stereoTargetEye == StereoTargetEyeMask.None)
{
cameraLeft = cam.transform;
// cam.cullingMask &= ~(1 << sl.ZEDCamera.TagOneObject);
}
}
}
