/// <summary>
/// Enables the thread to get the trackingr.up
/// </summary>
void EnableTrackingThreaded()
{
enablePoseSmoothing = enableSpatialMemory;
lock (grabLock)
{
//Make sure we have "grabbed" on frame first
sl.ERROR_CODE e = zedCamera.Grab(ref runtimeParameters);
int timeOut_grab = 0;
while (e != sl.ERROR_CODE.SUCCESS && timeOut_grab < 100)
{
e = zedCamera.Grab(ref runtimeParameters);
Thread.Sleep(10);
timeOut_grab++;
}
//Make sure the .area path is valid
if (pathSpatialMemory != "" && !System.IO.File.Exists(pathSpatialMemory))
{
Debug.Log("Specified path to .area file '" + pathSpatialMemory + "' does not exist. Ignoring.");
pathSpatialMemory = "";
}
//Now enable the tracking with the proper parameters
//if (!(enableTracking = (zedCamera.EnableTracking(ref initialRotation, ref initialPosition, enableSpatialMemory, enablePoseSmoothing, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS)))
if (!(enableTracking = (zedCamera.EnableTracking(ref zedOrientation, ref zedPosition, enableSpatialMemory, enablePoseSmoothing, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
}
else
{
isTrackingEnable = true;
}
}
}
void MeshIsOver()
{
#if UNITY_5_6_OR_NEWER
UpdateNavMesh();
//Nav mesh has been build. Clear the sources as we don't need them
sources.Clear();
//Draw the nav mesh is possible (triangulation from navmesh has return an area)
bool isDrawn = Draw();
#endif
if (isDrawn)
{
PositionEventArgs args = new PositionEventArgs();
args.position = NavMeshPosition;
args.valid = isDrawn;
args.agentTypeID = agentTypeID;
System.EventHandler <PositionEventArgs> handler = OnNavMeshReady;
if (handler != null)
{
handler(this, args);
}
}
else
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.NAVMESH_NOT_GENERATED));
}
isOver = true;
}
/// <summary>
/// Re-enable canvas elements and change message when ZED is disconnected.
/// GameObjects were disabled before because the ZED had to have finished initializing before.
/// </summary>
void ZEDDisconnected()
{
if (warningmono) //Using the mono rig.
{
warningmono.SetActive(true);
imagemono.SetActive(true);
warningmono.transform.GetChild(0).gameObject.SetActive(true);
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.ZED_IS_DISCONNECETD);
warningmono.layer = 30;
ready = false;
}
if (warningleft) //Using the stereo rig.
{
warningleft.SetActive(true);
imageleft.SetActive(true);
warningleft.transform.GetChild(0).gameObject.SetActive(true);
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.ZED_IS_DISCONNECETD);
warningleft.layer = 30;
warningright.SetActive(true);
imageright.SetActive(true);
warningright.transform.GetChild(0).gameObject.SetActive(true);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.ZED_IS_DISCONNECETD);
warningright.layer = 30;
ready = false;
}
}
const string packageName = "Oculus"; //Switch to OVR for old plugin.
public override void OnInspectorGUI()
{
if (EditorPrefs.GetBool(packageName) && CheckPackageExists(packageName) && isDefineActivated())
{
DrawDefaultInspector();
}
else
{
// Should not be needed but in just in case...
GUILayout.Space(20);
if (GUILayout.Button("Activate Oculus"))
{
if (CheckPackageExists(packageName))
{
ActivateDefine();
}
}
//if OVR package does not exist, undef ZED_OCULUS to avoid build errors
if (!CheckPackageExists(packageName))
{
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.OVR_NOT_INSTALLED), MessageType.Warning);
DesactivateDefine();
}
}
}
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();
}
}
/// <summary>
/// Enables the thread to get the trackingr.up
/// </summary>
void EnableTrackingThreaded()
{
enablePoseSmoothing = enableSpatialMemory;
lock (grabLock) {
//Make sure we have "grabbed" on frame first
sl.ERROR_CODE e = zedCamera.Grab(ref runtimeParameters);
int timeOut_grab = 0;
while (e != sl.ERROR_CODE.SUCCESS && timeOut_grab < 100)
{
e = zedCamera.Grab(ref runtimeParameters);
Thread.Sleep(10);
timeOut_grab++;
}
//Now enable the tracking with the proper parameters
if (!(enableTracking = (zedCamera.EnableTracking(ref initialRotation, ref initialPosition, enableSpatialMemory, enablePoseSmoothing, pathSpatialMemory) == sl.ERROR_CODE.SUCCESS)))
{
throw new Exception(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
}
else
{
isTrackingEnable = true;
}
}
}
/// <summary>
/// Event if ZED is disconnected
/// </summary>
void ZEDDisconnected()
{
warning.SetActive(true);
warning.transform.GetChild(0).gameObject.SetActive(true);
text.GetComponent <RectTransform>().localPosition = Vector3.zero;
text.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.ZED_IS_DISCONNECETD);
text.alignment = TextAnchor.MiddleCenter;
text.fontSize = 200;
warning.layer = 30;
}
/// <summary>
/// Creates canvas(es) and canvas elements depending on whether the ZED rig is mono (ZED_Rig_Mono)
/// or stereo (ZED_Rig_Stereo).
/// </summary>
private void Awake()
{
zedManager = GetComponent <ZEDManager> ();
oldInitStatus = sl.ERROR_CODE.ERROR_CODE_LAST;
if (!zedManager.IsStereoRig) //Without VR, we use a Screen Space - Overlay canvas.
{
//Instantiate the mono warning prefab and set basic settings for it.
warningmono = Instantiate(Resources.Load("PrefabsUI/Warning") as GameObject, transform);
warningmono.SetActive(true);
warningmono.GetComponent <Canvas> ().renderMode = RenderMode.ScreenSpaceCamera;
warningmono.GetComponent <Canvas> ().worldCamera = zedManager.GetLeftCameraTransform().GetComponent <Camera>();
textmono = warningmono.GetComponentInChildren <UnityEngine.UI.Text>();
textmono.color = Color.white;
if (!sl.ZEDCamera.CheckPlugin())
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
imagemono = warningmono.transform.GetChild(0).GetChild(1).gameObject;
imagemono.transform.parent.gameObject.SetActive(true);
ready = false;
}
else //In VR, we use two Screen Space - Camera canvases, one for each eye.
{
//Instantiate the left warning prefab and set basic settings for it.
warningleft = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject, zedManager.GetLeftCameraTransform());
warningleft.SetActive(true);
warningleft.GetComponent <Canvas>().worldCamera = zedManager.GetLeftCameraTransform().GetComponent <Camera>();
warningleft.GetComponent <Canvas>().planeDistance = 1;
textleft = warningleft.GetComponentInChildren <UnityEngine.UI.Text>();
textleft.color = Color.white;
imageleft = warningleft.transform.GetChild(0).GetChild(1).gameObject;
imageleft.transform.parent.gameObject.SetActive(true);
//Instantiate the right warning prefab and set basic settings for it.
warningright = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject, zedManager.GetRightCameraTransform());
warningright.SetActive(true);
warningright.GetComponent <Canvas>().worldCamera = zedManager.GetRightCameraTransform().GetComponent <Camera>();
warningright.GetComponent <Canvas>().planeDistance = 1;
textright = warningright.GetComponentInChildren <UnityEngine.UI.Text>();
textright.color = Color.white;
imageright = warningright.transform.GetChild(0).GetChild(1).gameObject;
imageright.transform.parent.gameObject.SetActive(true);
if (!sl.ZEDCamera.CheckPlugin()) //Warn the use there's no SDK installed.
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
ready = false;
}
}
private void Awake()
{
oldInitStatus = ERROR_CODE.ERROR_CODE_LAST;
if (!ZEDManager.IsStereoRig) //Without VR, we use a Screen Space - Overlay canvas.
{
warningmono = Instantiate(Resources.Load("PrefabsUI/Warning") as GameObject, transform);
warningmono.SetActive(true);
textmono = warningmono.GetComponentInChildren <Text>();
textmono.color = Color.white;
if (!ZEDCamera.CheckPlugin())
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
imagemono = warningmono.transform.GetChild(0).GetChild(1).gameObject;
imagemono.transform.parent.gameObject.SetActive(true);
ready = false;
}
else //In VR, we use two Screen Space - Camera canvases, one for each eye.
{
//Setup the left warning prefab
warningleft = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject,
ZEDManager.Instance.GetLeftCameraTransform());
warningleft.SetActive(true);
warningleft.GetComponent <Canvas>().worldCamera =
ZEDManager.Instance.GetLeftCameraTransform().GetComponent <Camera>();
warningleft.GetComponent <Canvas>().planeDistance = 1;
textleft = warningleft.GetComponentInChildren <Text>();
textleft.color = Color.white;
imageleft = warningleft.transform.GetChild(0).GetChild(1).gameObject;
imageleft.transform.parent.gameObject.SetActive(true);
//Setup the right warning prefab
warningright = Instantiate(Resources.Load("PrefabsUI/Warning_VR") as GameObject,
ZEDManager.Instance.GetRightCameraTransform());
warningright.SetActive(true);
warningright.GetComponent <Canvas>().worldCamera =
ZEDManager.Instance.GetRightCameraTransform().GetComponent <Camera>();
warningright.GetComponent <Canvas>().planeDistance = 1;
textright = warningright.GetComponentInChildren <Text>();
textright.color = Color.white;
imageright = warningright.transform.GetChild(0).GetChild(1).gameObject;
imageright.transform.parent.gameObject.SetActive(true);
if (!ZEDCamera.CheckPlugin())
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
ready = false;
}
}
static void Update()
{
if (!sl.ZEDCamera.CheckPlugin())
{
errorMessage = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_DEPENDENCIES_ISSUE);
window = GetWindow <ZEDPluginInspector>(true);
window.maxSize = new Vector2(400, 500);
window.minSize = window.maxSize;
window.Show(true);
}
EditorApplication.update -= Update;
}
private void Awake()
{
cameraRig = GameObject.Find("[CameraRig]");
if (cameraRig == null)
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.VR_CAMERA_RIG_NOT_FOUND));
controllerManager = FindObjectOfType(typeof(SteamVR_ControllerManager)) as SteamVR_ControllerManager;
if (controllerManager == null)
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.VR_CAMERA_RIG_CONTROLLER_NOT_FOUND));
}
}
}
private void Awake()
{
warning = Instantiate(Resources.Load("PrefabsUI/Warning" + (ZEDManager.IsStereoRig ? "_VR" :"")) as GameObject, transform);
warning.SetActive(true);
text = warning.GetComponentInChildren <UnityEngine.UI.Text>();
text.color = Color.white;
if (!sl.ZEDCamera.CheckPlugin())
{
text.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_NOT_INSTALLED);
}
image = warning.transform.GetChild(0).GetChild(1).gameObject;
image.transform.parent.gameObject.SetActive(true);
ready = false;
}
public override void OnInspectorGUI()
{
if (EditorPrefs.GetBool(packageName))
{
DrawDefaultInspector();
}
else
{
GUILayout.Space(20);
if (GUILayout.Button("Load SteamVR data"))
{
if (CheckPackageExists(packageName))
{
ActivateDefine();
}
}
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.STEAMVR_NOT_INSTALLED), MessageType.Warning);
}
}
// Update is called once per frame
void Update()
{
if (!init)
{
sl.ERROR_CODE e = ZEDManager.LastInitStatus;
if (e == sl.ERROR_CODE.SUCCESS)
{
timer += Time.deltaTime;
if (timer > 0.2f)
{
text.text = "";
}
image.gameObject.SetActive(false);
}
else if (e == sl.ERROR_CODE.ERROR_CODE_LAST)
{
text.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
text.color = Color.white;
}
else if (e == sl.ERROR_CODE.CAMERA_NOT_DETECTED)
{
text.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
}
else
{
text.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
}
if (ready)
{
timerWarning += Time.deltaTime;
if (timerWarning > 0.5f)
{
warning.SetActive(false);
init = true;
timerWarning = 0;
}
image.gameObject.transform.parent.gameObject.SetActive(false);
}
}
}
public override void OnInspectorGUI()
{
if (CheckPackageExists("SteamVR"))
{
defineName = "ZED_STEAM_VR";
packageName = "SteamVR";
}
else if (CheckPackageExists("Oculus") || CheckPackageExists("OVR"))
{
defineName = "ZED_OCULUS";
packageName = "Oculus";
}
if (EditorPrefs.GetBool(packageName))
{
DrawDefaultInspector();
}
else
{
GUILayout.Space(20);
if (GUILayout.Button("Load " + packageName + " data"))
{
if (CheckPackageExists(packageName))
{
ActivateDefine();
}
}
if (packageName == "SteamVR")
{
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.STEAMVR_NOT_INSTALLED),
MessageType.Warning);
}
else if (packageName == "Oculus")
{
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.OVR_NOT_INSTALLED),
MessageType.Warning);
}
}
}
public override void OnInspectorGUI() //Called when the Inspector is visible.
{
//if (CheckPackageExists("OpenVR"))
if (CheckPackageExists("SteamVR_Camera.cs"))
{
defineName = "ZED_STEAM_VR";
packageName = "SteamVR";
}
//else if (CheckPackageExists("Oculus") || CheckPackageExists("OVR"))
else if (CheckPackageExists("OVRManager"))
{
defineName = "ZED_OCULUS";
packageName = "Oculus";
}
if (EditorPrefs.GetBool(packageName)) //Has it been set?
{
DrawDefaultInspector();
}
else //No package loaded, but one has been detected. Present a button to load it.
{
GUILayout.Space(20);
if (GUILayout.Button("Load " + packageName + " data"))
{
if (CheckPackageExists(packageName))
{
ActivateDefine();
}
}
if (packageName == "SteamVR")
{
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.STEAMVR_NOT_INSTALLED), MessageType.Warning);
}
else if (packageName == "Oculus")
{
EditorGUILayout.HelpBox(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.OVR_NOT_INSTALLED), MessageType.Warning);
}
}
}
System.Collections.IEnumerator InitZED()
{
zedReady = false;
while (LastInitStatus != sl.ERROR_CODE.SUCCESS)
{
//Initialize the camera
if (!openingLaunched)
{
threadOpening = new Thread(new ThreadStart(OpenZEDInBackground));
if (LastInitStatus != sl.ERROR_CODE.SUCCESS)
{
#if UNITY_EDITOR
numberTriesOpening++;
if (numberTriesOpening % 2 == 0 && LastInitStatus == PreviousInitStatus)
{
Debug.LogWarning("[ZEDPlugin]: " + LastInitStatus);
}
if (numberTriesOpening > MAX_OPENING_TRIES)
{
Debug.Log("[ZEDPlugin]: Stops initialization");
yield break;
}
#endif
PreviousInitStatus = LastInitStatus;
}
threadOpening.Start();
}
yield return(new WaitForSeconds(0.3f));
}
//ZED has opened
if (LastInitStatus == sl.ERROR_CODE.SUCCESS)
{
threadOpening.Join();
//Initialize the threading mode, the positions with the AR and the SVO if needed
//Launch the threading to enable the tracking
ZEDReady();
//Wait until the ZED of the init of the tracking
while (enableTracking && !isTrackingEnable)
{
yield return(new WaitForSeconds(0.5f));
}
//Calls all the observers, the ZED is ready :)
if (OnZEDReady != null)
{
OnZEDReady();
}
float ratio = (float)Screen.width / (float)Screen.height;
float target = 16.0f / 9.0f;
if (Mathf.Abs(ratio - target) > 0.01)
{
ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SCREEN_RESOLUTION);
}
//If not already launched, launch the grabbing thread
if (!running)
{
running = true;
requestNewFrame = true;
threadGrab = new Thread(new ThreadStart(ThreadedZEDGrab));
threadGrab.Start();
}
zedReady = true;
isDisconnected = false; //In case we just regained connection
setRenderingSettings();
AdjustZEDRigCameraPosition();
}
}
/// <summary>
/// Update is called every frame.
/// For SteamVR plugin this is where the device Index is set up.
/// For Oculus plugin this is where the tracking is done.
/// </summary>
private void Update()
{
#if ZED_OCULUS
//Check if the VR headset is connected.
if (OVRManager.isHmdPresent && loadedDevice == "Oculus")
{
if (OVRInput.GetConnectedControllers().ToString() == "Touch")
{
//Depending on which tracked device we are looking for, start tracking it.
if (deviceToTrack == devices.LeftController) //Track the Left Oculus Controller.
{
RegisterPosition(1, OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch), OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch));
}
if (deviceToTrack == devices.RightController) //Track the Right Oculus Controller.
{
RegisterPosition(1, OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch), OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch));
}
if (deviceToTrack == devices.Hmd) //Track the Oculus Hmd.
{
RegisterPosition(1, UnityEngine.VR.InputTracking.GetLocalPosition(UnityEngine.VR.VRNode.CenterEye), UnityEngine.VR.InputTracking.GetLocalRotation(UnityEngine.VR.VRNode.CenterEye));
}
//Taking our saved positions, and applying a delay before assigning it to our Transform.
if (poseData.Count > 0)
{
sl.Pose p;
//Delaying the saved values inside GetValuePosition() by a factor of latencyCompensation to the millisecond.
p = GetValuePosition(1, (float)(_latencyCompensation / 1000.0f));
transform.position = p.translation; //Assign new delayed Position
transform.rotation = p.rotation; //Assign new delayed Rotation.
}
}
}
//Enabling the updates of the internal state of OVRInput.
OVRInput.Update();
#endif
#if ZED_STEAM_VR
//Timer for checking on devices
timerVive += Time.deltaTime;
if (timerVive <= timerMaxVive)
{
return;
}
timerVive = 0f;
//Checks if a device has been assigned
if (index == EIndex.None && loadedDevice == "OpenVR")
{
if (BIsManufacturerController("HTC") || BIsManufacturerController("Oculus"))
{
//We look for any device that has "tracker" in its 3D model mesh name.
//We're doing this since the device ID changes based on how many devices are connected to Steam VR.
//This way if there's no controllers or just one, it's going to get the right ID for the Tracker.
if (deviceToTrack == devices.ViveTracker)
{
var error = ETrackedPropertyError.TrackedProp_Success;
for (uint i = 0; i < 16; i++)
{
var result = new StringBuilder(64);
OpenVR.System.GetStringTrackedDeviceProperty(i,
ETrackedDeviceProperty.Prop_RenderModelName_String, result, 64, ref error);
if (result.ToString().Contains("tracker"))
{
index = (EIndex)i;
break; //We break out of the loop, but we can use this to set up multiple Vive Trackers if we want to.
}
}
}
//Looks for a device with the role of a Right Hand.
if (deviceToTrack == devices.RightController)
{
index = (EIndex)OpenVR.System.GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole
.RightHand);
}
//Looks for a device with the role of a Left Hand.
if (deviceToTrack == devices.LeftController)
{
index = (EIndex)OpenVR.System.GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole
.LeftHand);
}
//Assigns the Hmd
if (deviceToTrack == devices.Hmd)
{
index = EIndex.Hmd;
}
}
//Display Warning if there was supposed to be a calibration file, and none was found.
if (SNHolder.Equals("NONE"))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_NOT_FOUND));
}
else if (SNHolder != null && index != EIndex.None)
{
if (!SteamVR.instance.GetStringProperty(ETrackedDeviceProperty.Prop_SerialNumber_String, (uint)index)
.Contains(SNHolder))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_MISMATCH) +
SNHolder);
//... then look for that device through all the connected devices.
for (var i = 0; i < 16; i++)
{
//If a device with the same Serial Number is found, then change the device to track of this script.
if (SteamVR.instance
.GetStringProperty(ETrackedDeviceProperty.Prop_SerialNumber_String, (uint)i)
.Contains(SNHolder))
{
index = (EIndex)i;
var deviceRole = OpenVR.System.GetControllerRoleForTrackedDeviceIndex((uint)index)
.ToString();
if (deviceRole.Equals("RightHand"))
{
deviceToTrack = devices.RightController;
}
else if (deviceRole.Equals("LeftHand"))
{
deviceToTrack = devices.LeftController;
}
else if (deviceRole.Equals("Invalid"))
{
var error = ETrackedPropertyError.TrackedProp_Success;
var result = new StringBuilder(64);
OpenVR.System.GetStringTrackedDeviceProperty((uint)index,
ETrackedDeviceProperty.Prop_RenderModelName_String, result, 64, ref error);
if (result.ToString().Contains("tracker"))
{
deviceToTrack = devices.ViveTracker;
}
}
Debug.Log("A connected device with the correct Serial Number was found, and assigned to " +
this + " the correct device to track.");
break;
}
}
}
}
oldDevice = deviceToTrack;
}
if (deviceToTrack != oldDevice)
{
index = EIndex.None;
}
#endif
}
/// <summary>
/// Update is called every frame.
/// For SteamVR plugin this is where the device Index is set up.
/// For Oculus plugin this is where the tracking is done.
/// </summary>
protected virtual void Update()
{
#if ZED_OCULUS //Used only if the Oculus Integration plugin is detected.
//Check if the VR headset is connected.
if (OVRManager.isHmdPresent && loadeddevice == "Oculus")
{
if (OVRInput.GetConnectedControllers().ToString().ToLower().Contains("touch"))
{
//Depending on which tracked device we are looking for, start tracking it.
if (deviceToTrack == Devices.LeftController) //Track the Left Oculus Controller.
{
RegisterPosition(1, OVRInput.GetLocalControllerPosition(OVRInput.Controller.LTouch), OVRInput.GetLocalControllerRotation(OVRInput.Controller.LTouch));
}
if (deviceToTrack == Devices.RightController) //Track the Right Oculus Controller.
{
RegisterPosition(1, OVRInput.GetLocalControllerPosition(OVRInput.Controller.RTouch), OVRInput.GetLocalControllerRotation(OVRInput.Controller.RTouch));
}
if (deviceToTrack == Devices.Hmd) //Track the Oculus Hmd.
{
RegisterPosition(1, InputTracking.GetLocalPosition(XRNode.CenterEye), InputTracking.GetLocalRotation(XRNode.CenterEye));
}
//Use our saved positions to apply a delay before assigning it to this object's Transform.
if (poseData.Count > 0)
{
sl.Pose p;
//Delay the saved values inside GetValuePosition() by a factor of latencyCompensation in milliseconds.
p = GetValuePosition(1, (float)(latencyCompensation / 1000.0f));
transform.position = p.translation; //Assign new delayed Position
transform.rotation = p.rotation; //Assign new delayed Rotation.
}
}
}
//Enable updating the internal state of OVRInput.
OVRInput.Update();
#endif
#if ZED_STEAM_VR
UpdateControllerState(); //Get the button states so we can check if buttons are down or not.
timerSteamVR += Time.deltaTime; //Increment timer for checking on devices
if (timerSteamVR <= timerMaxSteamVR)
{
return;
}
timerSteamVR = 0f;
//Checks if a device has been assigned
if (index == EIndex.None && loadeddevice == "OpenVR")
{
//We look for any device that has "tracker" in its 3D model mesh name.
//We're doing this since the device ID changes based on how many devices are connected to SteamVR.
//This way, if there's no controllers or just one, it's going to get the right ID for the Tracker.
if (deviceToTrack == Devices.ViveTracker)
{
var error = ETrackedPropertyError.TrackedProp_Success;
for (uint i = 0; i < 16; i++)
{
var result = new System.Text.StringBuilder((int)64);
OpenVR.System.GetStringTrackedDeviceProperty(i, ETrackedDeviceProperty.Prop_RenderModelName_String, result, 64, ref error);
if (result.ToString().Contains("tracker"))
{
index = (EIndex)i;
break; //We break out of the loop, but we can use this to set up multiple Vive Trackers if we want to.
}
}
}
//Looks for a device with the role of a Right Hand.
if (deviceToTrack == Devices.RightController)
{
index = (EIndex)OpenVR.System.GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole.RightHand);
}
//Looks for a device with the role of a Left Hand.
if (deviceToTrack == Devices.LeftController)
{
index = (EIndex)OpenVR.System.GetTrackedDeviceIndexForControllerRole(ETrackedControllerRole.LeftHand);
}
//Assigns the HMD.
if (deviceToTrack == Devices.Hmd)
{
index = EIndex.Hmd;
}
//Display a warning if there was supposed to be a calibration file, and none was found.
if (SNHolder.Equals("NONE"))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_NOT_FOUND));
}
else if (SNHolder != null && index != EIndex.None) //
{
//If the Serial number of the Calibrated device isn't the same as the current tracked device by this script...
var snerror = ETrackedPropertyError.TrackedProp_Success;
var snresult = new System.Text.StringBuilder((int)64);
OpenVR.System.GetStringTrackedDeviceProperty((uint)index, ETrackedDeviceProperty.Prop_SerialNumber_String, snresult, 64, ref snerror);
if (!snresult.ToString().Contains(SNHolder))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_MISMATCH) + " Serial Number: " + SNHolder);
//... then look for that device through all the connected devices.
for (int i = 0; i < 16; i++)
{
//If a device with the same Serial Number is found, then change the device to track of this script.
var chsnresult = new System.Text.StringBuilder((int)64);
OpenVR.System.GetStringTrackedDeviceProperty((uint)i, ETrackedDeviceProperty.Prop_SerialNumber_String, chsnresult, 64, ref snerror);
if (snresult.ToString().Contains(SNHolder))
{
index = (EIndex)i;
string deviceRole = OpenVR.System.GetControllerRoleForTrackedDeviceIndex((uint)index).ToString();
if (deviceRole.Equals("RightHand"))
{
deviceToTrack = Devices.RightController;
}
else if (deviceRole.Equals("LeftHand"))
{
deviceToTrack = Devices.LeftController;
}
else if (deviceRole.Equals("Invalid"))
{
var error = ETrackedPropertyError.TrackedProp_Success;
var result = new System.Text.StringBuilder((int)64);
OpenVR.System.GetStringTrackedDeviceProperty((uint)index, ETrackedDeviceProperty.Prop_RenderModelName_String, result, 64, ref error);
if (result.ToString().Contains("tracker"))
{
deviceToTrack = Devices.ViveTracker;
}
}
Debug.Log("A connected device with the correct Serial Number was found, and assigned to " + this + " the correct device to track.");
break;
}
}
}
}
oldDevice = deviceToTrack;
}
if (deviceToTrack != oldDevice)
{
index = EIndex.None;
}
#endif
}
private void Update()
{
timerVive += Time.deltaTime;
if (timerVive > timerMaxVive)
{
timerVive = 0;
if (!padsSet)
{
GetPadIndex();
}
if (devices.Count != delayedPads.Count)
{
CreateNewPads();
}
if (devices.Count >= 2)
{
padsAreInit = true;
}
//if (devices.Count < 2)
//{
// Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.NOT_ENOUGH_PAD_DETECTED) + devices.Count);
//}
if (controllerIndexZEDHolder == -1)
{
if (SNHolder.Equals("NONE"))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_NOT_FOUND));
controllerIndexZEDHolder = -2;
padsAreInit = true;
}
else
{
foreach (SteamVR_Controller.Device d in devices)
{
if (SteamVR.instance.GetStringProperty(Valve.VR.ETrackedDeviceProperty.Prop_SerialNumber_String, (uint)d.index).Equals(SNHolder))
{
controllerIndexZEDHolder = (int)d.index;
padsAreInit = true;
}
}
if (controllerIndexZEDHolder == -1 && devices.Count >= 2)
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.PAD_CAMERA_CALIBRATION_MISMATCH) + SNHolder);
}
}
}
if (previousStateIndex != controllerIndexZEDHolder && controllerIndexZEDHolder != -1)
{
previousStateIndex = controllerIndexZEDHolder;
if (ZEDOnPadIndexSet != null)
{
ZEDOnPadIndexSet();
}
}
}
}
/// <summary>
/// If visible, print the loading status of the ZED, including relevant errors.
/// </summary>
void Update()
{
if (!init) //This check will pass until 0.5 seconds after the ZED is done initializing.
{
sl.ERROR_CODE e = zedManager.LastInitStatus;
if (e == sl.ERROR_CODE.SUCCESS) //Last initialization attempt was successful.
{
if (!ready)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_MODULE_LOADING);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_MODULE_LOADING);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SDK_MODULE_LOADING);
}
}
else
{
timer += Time.deltaTime; //Clear text after a short delay.
if (timer > 0.2f)
{
if (textmono)
{
textmono.text = "";
}
else if (textleft)
{
textleft.text = "";
textright.text = "";
}
}
if (imagemono) //Disable mono rig canvas.
{
imagemono.gameObject.SetActive(false);
}
else if (imageleft) //Disable stereo rig canvases.
{
imageleft.gameObject.SetActive(false);
imageright.gameObject.SetActive(false);
}
}
}
else if (e == sl.ERROR_CODE.ERROR_CODE_LAST) //"Loading..."
{
//Initial error code set before an initialization attempt has returned successful or failed.
//In short, it means it's still loading.
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
}
}
else if (e == sl.ERROR_CODE.CAMERA_NOT_DETECTED && oldInitStatus == sl.ERROR_CODE.CAMERA_NOT_DETECTED) //"Camera not detected"
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
}
}
else if (e == sl.ERROR_CODE.CAMERA_DETECTION_ISSUE && oldInitStatus == sl.ERROR_CODE.CAMERA_DETECTION_ISSUE) //"Unable to open camera"
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
}
}
else if (e == sl.ERROR_CODE.SENSOR_NOT_DETECTED && oldInitStatus == sl.ERROR_CODE.SENSOR_NOT_DETECTED) //"Camera motion sensor not detected"
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
}
}
else if (e == sl.ERROR_CODE.LOW_USB_BANDWIDTH && oldInitStatus == sl.ERROR_CODE.LOW_USB_BANDWIDTH) //"Low USB bandwidth"
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
}
}
else if (e == sl.ERROR_CODE.INVALID_SVO_FILE && oldInitStatus == sl.ERROR_CODE.INVALID_SVO_FILE)
{
if (textmono)
{
textmono.text = "Invalid SVO File/Path";
}
else if (textleft)
{
textleft.text = "Invalid SVO File/Path";
textright.text = "Invalid SVO File/Path";
}
}
else if (e == oldInitStatus)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
}
}
oldInitStatus = e;
}
if (ready) //ZED has finished initializing. Set a timer, then disable texts after it expires.
{
timerWarning += Time.deltaTime;
if (timerWarning > 0.5f)
{
if (warningmono)
{
warningmono.SetActive(false);
}
else if (warningleft)
{
warningleft.SetActive(false);
warningright.SetActive(false);
}
}
init = true; //Prevents logic above the if (ready) check from running each frame.
if (imagemono)
{
imagemono.gameObject.transform.parent.gameObject.SetActive(false);
}
else if (imageleft)
{
imageleft.gameObject.transform.parent.gameObject.SetActive(false);
imageright.gameObject.transform.parent.gameObject.SetActive(false);
}
}
}
/// <summary>
/// Load the mesh and the corresponding area file if it exists. It can be quite time comsuming if you mapped a large area.
/// If there are no areas found, the mesh will not be loaded
/// </summary>
public bool LoadMesh(string meshFilePath = "ZEDMesh.obj")
{
if (OnMeshStarted != null)
{
OnMeshStarted();
}
//If a spatail mapping have started, disable it
DisableSpatialMapping();
//Find and load the area
string basePath = meshFilePath.Substring(0, meshFilePath.LastIndexOf("."));
if (!System.IO.File.Exists(basePath + ".area"))
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_BASE_AREA_NOT_FOUND));
return(false);
}
zedCamera.DisableTracking();
Quaternion quat = Quaternion.identity; Vector3 tr = Vector3.zero;
if (zedCamera.EnableTracking(ref quat, ref tr, true, false, System.IO.File.Exists(basePath + ".area") ? basePath + ".area" : "") != sl.ERROR_CODE.SUCCESS)
{
Debug.LogWarning(ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.TRACKING_NOT_INITIALIZED));
return(false);
}
updateTexture = false;
updatedTexture = false;
bool meshUpdatedLoad = false;
lock (lockScanning)
{
ClearMeshes();
meshUpdatedLoad = zedSpatialMapping.LoadMesh(meshFilePath);
if (meshUpdatedLoad)
{
//Checks if a texture exists
if (zedSpatialMapping.GetWidthTexture() != -1)
{
updateTexture = true;
updatedTexture = true;
}
//Retrieves the mesh sizes to be updated in the unity's buffer later
if (!updateTexture)
{
zedSpatialMapping.RetrieveMesh();
}
}
}
if (meshUpdatedLoad)
{
//Update the buffer on the unity's side
UpdateMeshMainthread(false);
//Add colliders and scan for gravity
if (hasColliders)
{
if (!ZEDManager.IsStereoRig && gravityEstimation != Vector3.zero)
{
Quaternion rotationToApplyForGravity = Quaternion.Inverse(Quaternion.FromToRotation(Vector3.up, -gravityEstimation.normalized));
holder.transform.rotation = rotationToApplyForGravity;
zedManager.gravityRotation = rotationToApplyForGravity;
}
UpdateMeshCollider();
foreach (Chunk c in ChunkList)
{
c.o.transform.localRotation = Quaternion.identity;
}
}
if (OnMeshReady != null)
{
OnMeshReady();
}
return(true);
}
return(false);
}
// Update is called once per frame
private void Update()
{
if (!init)
{
var e = ZEDManager.LastInitStatus;
if (e == ERROR_CODE.SUCCESS)
{
timer += Time.deltaTime;
if (timer > 0.2f)
{
if (textmono)
{
textmono.text = "";
}
else if (textleft)
{
textleft.text = "";
textright.text = "";
}
}
if (imagemono)
{
imagemono.gameObject.SetActive(false);
}
else if (imageleft)
{
imageleft.gameObject.SetActive(false);
imageright.gameObject.SetActive(false);
}
}
else if (e == ERROR_CODE.ERROR_CODE_LAST)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
//textmono.color = Color.white;
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
//textleft.color = Color.white;
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_LOADING);
//textright.color = Color.white;
}
}
else if (e == ERROR_CODE.CAMERA_NOT_DETECTED && oldInitStatus == ERROR_CODE.CAMERA_NOT_DETECTED)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.UNABLE_TO_OPEN_CAMERA);
}
}
else if (e == ERROR_CODE.CAMERA_DETECTION_ISSUE && oldInitStatus == ERROR_CODE.CAMERA_DETECTION_ISSUE)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_DETECTION_ISSUE);
}
}
else if (e == ERROR_CODE.SENSOR_NOT_DETECTED && oldInitStatus == ERROR_CODE.SENSOR_NOT_DETECTED)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.SENSOR_NOT_DETECTED);
}
}
else if (e == ERROR_CODE.LOW_USB_BANDWIDTH && oldInitStatus == ERROR_CODE.LOW_USB_BANDWIDTH)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.LOW_USB_BANDWIDTH);
}
}
else if (e == oldInitStatus)
{
if (textmono)
{
textmono.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
}
else if (textleft)
{
textleft.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
textright.text = ZEDLogMessage.Error2Str(ZEDLogMessage.ERROR.CAMERA_NOT_INITIALIZED);
}
}
oldInitStatus = e;
}
if (ready)
{
timerWarning += Time.deltaTime;
if (timerWarning > 0.5f)
{
if (warningmono)
{
warningmono.SetActive(false);
}
else if (warningleft)
{
warningleft.SetActive(false);
warningright.SetActive(false);
}
}
init = true;
//timerWarning = 0;
if (imagemono)
{
imagemono.gameObject.transform.parent.gameObject.SetActive(false);
}
else if (imageleft)
{
imageleft.gameObject.transform.parent.gameObject.SetActive(false);
imageright.gameObject.transform.parent.gameObject.SetActive(false);
}
}
}
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");
}
}
}
}
}
