/// <summary>
/// Update debug visual and stats
/// </summary>
public override void UpdateView()
{
transform.position = _depthCamera.MeasuredPosition;
if (_depthCamera.MeasureAvailable)
{
if (_debugTrail == null)
{
_debugTrail = Instantiate(_trailPrefab, transform);
}
_trackerNormal.AddValue(_depthCamera.TrackedTarget.position, _depthCamera.MeasuredPosition);
}
else
{
if (_debugTrail != null)
{
_debugTrail.transform.parent = null;
_debugTrail = null;
}
_trackerDropOut.AddValue(_depthCamera.TrackedTarget.position, _depthCamera.MeasuredPosition);
}
}
/// <summary>
/// Fixed update of the process
/// </summary>
public override void UpdateView()
{
Vector3?position = null;
if (_depthCamera.MeasureAvailable)
{
position = _depthCamera.MeasuredPosition;
}
_dataFusion.Update(position, _sensorIMU.MeasuredVelocity);
transform.position = _dataFusion.GetPositionFromFilter();
if (_depthCamera.MeasureAvailable)
{
_trackerNormal.AddValue(_sensorIMU.transform.position, transform.position);
}
{
_trackerDropOut.AddValue(_sensorIMU.transform.position, transform.position);
}
DrawDebugInformations();
}
