// Update is called once per frame
void Update()
{
if (zed.IsCameraReady) //Don't do anything unless the ZED has been initialized.
{
if (numberPoints == 0)
{
//Create the textures. These will be updated automatically by the ZED.
//We'll copy them each frame into XYZTextureCopy and ColorTextureCopy, which will be the ones actually displayed.
XYZTexture = zed.CreateTextureMeasureType(sl.MEASURE.XYZ);
colorTexture = zed.CreateTextureImageType(sl.VIEW.LEFT);
numberPoints = zed.ImageWidth * zed.ImageHeight;
//Load and set the material properties.
mat = new Material(Resources.Load("Materials/PointCloud/Mat_ZED_PointCloud") as Material);
if (mat != null)
{
//mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture(xyzTexID, XYZTexture);
//mat.SetTexture("_ColorTex", colorTexture);
mat.SetTexture(colorTexID, colorTexture);
}
}
//If stop updated, create new render texture and fill them with the textures from the ZED.
// These textures will be displayed as they are not updated
if (!update && previousUpdate != update)
{
if (XYZTextureCopy == null)
{
XYZTextureCopy = new RenderTexture(XYZTexture.width, XYZTexture.height, 0, RenderTextureFormat.ARGBFloat);
}
if (ColorTextureCopy == null)
{
ColorTextureCopy = new RenderTexture(colorTexture.width, colorTexture.height, 0, RenderTextureFormat.ARGB32);
}
//Copy the new textures into the buffers.
Graphics.Blit(XYZTexture, XYZTextureCopy);
Graphics.Blit(colorTexture, ColorTextureCopy);
if (mat != null)
{
//mat.SetTexture("_XYZTex", XYZTextureCopy);
mat.SetTexture(xyzTexID, XYZTextureCopy);
//mat.SetTexture("_ColorTex", ColorTextureCopy);
mat.SetTexture(colorTexID, ColorTextureCopy);
}
}
//Send the textures to the material/shader.
if (update && previousUpdate != update && mat != null)
{
//mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture(xyzTexID, XYZTexture);
//mat.SetTexture("_ColorTex", colorTexture);
mat.SetTexture(colorTexID, colorTexture);
}
previousUpdate = update;
}
}
void Start()
{
//Set textures to the shader
matRGB = canvas.GetComponent <Renderer>().material;
sl.ZEDCamera zedCamera = sl.ZEDCamera.GetInstance();
//Create two textures and fill them with the ZED computed images
if (whichCamera == 0)
{
camZed = zedCamera.CreateTextureImageType(sl.VIEW.LEFT);
}
else if (whichCamera == 1)
{
camZed = zedCamera.CreateTextureImageType(sl.VIEW.RIGHT);
}
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.MEASURE.XYZ);
matRGB.SetTexture("_CameraTex", camZed);
matRGB.SetTexture("_DepthXYZTex", depthXYZZed);
if (zedCamera.CameraIsReady)
{
mainCamera.fieldOfView = zedCamera.GetFOV() * Mathf.Rad2Deg;
mainCamera.projectionMatrix = zedCamera.Projection;
scale(canvas.gameObject, GetFOVFromProjectionMatrix(mainCamera.projectionMatrix));
}
else
{
scale(canvas.gameObject, mainCamera.fieldOfView);
}
}
void Start()
{
//Set textures to the shader
matRGB = canvas.GetComponent <Renderer>().material;
sl.ZEDCamera zedCamera = sl.ZEDCamera.GetInstance();
//Create two textures and fill them with the ZED computed images
zedCamera.SetGrabParametersThreadingMode(sl.SENSING_MODE.FILL, true);
camZedLeft = zedCamera.CreateTextureImageType(videoType); //this gets set to LEFT from some magic...
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.MEASURE.XYZ);
matRGB.SetTexture("_CameraTex", camZedLeft);
matRGB.SetTexture("_DepthXYZTex", depthXYZZed);
if (zedCamera.CameraIsReady)
{
mainCamera.fieldOfView = zedCamera.GetFOV() * Mathf.Rad2Deg;
mainCamera.projectionMatrix = zedCamera.Projection;
monitorCamera.fieldOfView = zedCamera.GetFOV() * Mathf.Rad2Deg;
monitorCamera.projectionMatrix = zedCamera.Projection;
scale(canvas.gameObject, GetFOVFromProjectionMatrix(mainCamera.projectionMatrix), false);
scale(monitorCanvas.gameObject, GetFOVFromProjectionMatrix(monitorCamera.projectionMatrix), true);
}
else
{
scale(canvas.gameObject, mainCamera.fieldOfView, false);
scale(monitorCanvas.gameObject, monitorCamera.fieldOfView, true);
}
}
// Update is called once per frame
void Update()
{
if (zed.CameraIsReady)
{
if (numberPoints == 0)
{
XYZTexture = zed.CreateTextureMeasureType(sl.MEASURE.XYZ);
colorTexture = zed.CreateTextureImageType(sl.VIEW.LEFT);
numberPoints = zed.ImageWidth * zed.ImageHeight;
mat = Resources.Load("Materials/Mat_ZED_PCL") as Material;
if (mat != null)
{
mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture("_ColorTex", colorTexture);
}
}
if (!update && previousUpdate != update)
{
if (XYZTextureCopy == null)
{
XYZTextureCopy = new RenderTexture(XYZTexture.width, XYZTexture.height, 0, RenderTextureFormat.ARGBFloat);
}
if (ColorTextureCopy == null)
{
ColorTextureCopy = new RenderTexture(colorTexture.width, colorTexture.height, 0, RenderTextureFormat.ARGB32);
}
Graphics.Blit(XYZTexture, XYZTextureCopy);
Graphics.Blit(colorTexture, ColorTextureCopy);
if (mat != null)
{
mat.SetTexture("_XYZTex", XYZTextureCopy);
mat.SetTexture("_ColorTex", ColorTextureCopy);
}
}
if (update && previousUpdate != update && mat != null)
{
mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture("_ColorTex", colorTexture);
}
// ADDED FUNCTION
//DepthSense_Test3 test = new DepthSense_Test3();
//test.run_depth_sense();
//mat.SetColor ("_XYZTex", Color.magenta);
previousUpdate = update;
}
}
// Update is called once per frame
void Update()
{
if (zed.IsCameraReady)
{
if (numberPoints == 0)
{
//Creations of the textures
XYZTexture = zed.CreateTextureMeasureType(sl.MEASURE.XYZ);
colorTexture = zed.CreateTextureImageType(sl.VIEW.LEFT);
numberPoints = zed.ImageWidth * zed.ImageHeight;
//Load and set the materials properties
mat = Resources.Load("Materials/PointCloud/Mat_ZED_PointCloud") as Material;
if (mat != null)
{
mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture("_ColorTex", colorTexture);
}
}
//If stop updated, create new render texture and fill them with the textures from the ZED.
// These textures will be displayed as they are not updated
if (!update && previousUpdate != update)
{
if (XYZTextureCopy == null)
{
XYZTextureCopy = new RenderTexture(XYZTexture.width, XYZTexture.height, 0, RenderTextureFormat.ARGBFloat);
}
if (ColorTextureCopy == null)
{
ColorTextureCopy = new RenderTexture(colorTexture.width, colorTexture.height, 0, RenderTextureFormat.ARGB32);
}
Graphics.Blit(XYZTexture, XYZTextureCopy);
Graphics.Blit(colorTexture, ColorTextureCopy);
if (mat != null)
{
mat.SetTexture("_XYZTex", XYZTextureCopy);
mat.SetTexture("_ColorTex", ColorTextureCopy);
}
}
//Display the right textures
if (update && previousUpdate != update && mat != null)
{
mat.SetTexture("_XYZTex", XYZTexture);
mat.SetTexture("_ColorTex", colorTexture);
}
previousUpdate = update;
}
}
void OnZEDReady()
{
//Create the textures. These will be updated automatically by the ZED.
XYZTexture = zed.CreateTextureMeasureType(sl.MEASURE.XYZ);
colTexture = zed.CreateTextureImageType(sl.VIEW.LEFT);
// Initialize rendertexture if needed
if (vertexRenderTexture == null)
{
vertexRenderTexture = new RenderTexture(XYZTexture.width, XYZTexture.height, 0, RenderTextureFormat.ARGBFloat);
vertexRenderTexture.enableRandomWrite = true;
vertexRenderTexture.useMipMap = false;
vertexRenderTexture.filterMode = FilterMode.Point;
vertexRenderTexture.Create();
vertexTexture = (Texture)vertexRenderTexture;
}
if (colorRenderTexture == null)
{
colorRenderTexture = new RenderTexture(colTexture.width, colTexture.height, 0, RenderTextureFormat.BGRA32);
colorRenderTexture.enableRandomWrite = true;
colorRenderTexture.useMipMap = false;
colorRenderTexture.Create();
colorTexture = (Texture)colorRenderTexture;
}
vertexTextureGeneratorKernelId = TextureGenerator.FindKernel("VertexGenerator");
TextureGenerator.SetTexture(vertexTextureGeneratorKernelId, "Input_positionData", XYZTexture);
TextureGenerator.SetInt("depthWidth", XYZTexture.width);
TextureGenerator.SetInt("depthHeight", XYZTexture.height);
TextureGenerator.SetTexture(vertexTextureGeneratorKernelId, "Output_vertexTexture", vertexRenderTexture);
colorTextureGeneratorKernelId = TextureGenerator.FindKernel("ColorGenerator");
TextureGenerator.SetTexture(colorTextureGeneratorKernelId, "Input_colorData", colTexture);
TextureGenerator.SetInt("colorWidth", colorTexture.width);
TextureGenerator.SetInt("colorHeight", colorTexture.height);
TextureGenerator.SetTexture(colorTextureGeneratorKernelId, "Output_colorTexture", colorRenderTexture);
}
void Start()
{
//Set textures to the shader
//matRGB = canvas.GetComponent<Renderer>().material;
sl.ZEDCamera zedCamera = sl.ZEDCamera.GetInstance();
if (videoType == sl.VIEW.LEFT_GREY || videoType == sl.VIEW.RIGHT_GREY || videoType == sl.VIEW.LEFT_UNRECTIFIED_GREY || videoType == sl.VIEW.RIGHT_UNRECTIFIED_GREY)
{
matRGB.SetInt("_isGrey", 1);
}
else
{
matRGB.SetInt("_isGrey", 0);
}
//Create two textures and fill them with the ZED computed images
// TextureFormat.RGBA32
camZedLeft = zedCamera.CreateTextureImageType(videoType);
// TextureFormat.RGBAFloat,
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.MEASURE.XYZ);
matRGB.SetTexture("_CameraTex", camZedLeft);
matRGB.SetTexture("_DepthXYZTex", depthXYZZed);
//matEncoded.SetTexture("_CameraTex", camZedLeft);
matEncoded.SetTexture("_DepthXYZTex", depthXYZZed);
if (zedCamera.CameraIsReady)
{
mainCamera.fieldOfView = zedCamera.GetFOV() * Mathf.Rad2Deg;
mainCamera.projectionMatrix = zedCamera.Projection;
scale(canvas.gameObject, GetFOVFromProjectionMatrix(mainCamera.projectionMatrix));
}
else
{
scale(canvas.gameObject, mainCamera.fieldOfView);
}
}
/// <summary>
/// Create and set the textures
/// </summary>
/// <param name="zedCamera"></param>
private void SetTextures(sl.ZEDCamera zedCamera, sl.VIEW_MODE view_mode)
{
float baseline = zedCamera.Baseline;
canvas.transform.localRotation = Quaternion.identity;
canvas.transform.localPosition = new Vector3(0, 0, 0);
if (StereoTargetEyeMask.Left == mainCamera.stereoTargetEye)
{
side = 0;
if (zedCamera != null && zedCamera.IsCameraReady)
{
renderTextureTarget = new RenderTexture(zedCamera.ImageWidth, zedCamera.ImageHeight, 24, RenderTextureFormat.ARGB32);
mainCamera.targetTexture = renderTextureTarget;
}
switch (view_mode)
{
case sl.VIEW_MODE.VIEW_IMAGE:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.LEFT);
break;
case sl.VIEW_MODE.VIEW_DEPTH:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.DEPTH);
break;
case sl.VIEW_MODE.VIEW_NORMALS:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.NORMALS);
break;
}
normals = zedCamera.CreateTextureMeasureType(sl.MEASURE.NORMALS, resolution);
depth = zedCamera.CreateTextureMeasureType(sl.MEASURE.DEPTH, resolution);
}
else if (StereoTargetEyeMask.Right == mainCamera.stereoTargetEye)
{
side = 1;
if (zedCamera != null && zedCamera.IsCameraReady)
{
renderTextureTarget = new RenderTexture(zedCamera.ImageWidth, zedCamera.ImageHeight, 24, RenderTextureFormat.ARGB32);
mainCamera.targetTexture = renderTextureTarget;
}
switch (view_mode)
{
case sl.VIEW_MODE.VIEW_IMAGE:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.RIGHT);
break;
case sl.VIEW_MODE.VIEW_DEPTH:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.DEPTH_RIGHT);
break;
case sl.VIEW_MODE.VIEW_NORMALS:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.NORMALS_RIGHT);
break;
}
normals = zedCamera.CreateTextureMeasureType(sl.MEASURE.NORMALS_RIGHT, resolution);
depth = zedCamera.CreateTextureMeasureType(sl.MEASURE.DEPTH_RIGHT, resolution);
}
else
{
side = 0;
switch (view_mode)
{
case sl.VIEW_MODE.VIEW_IMAGE:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.LEFT);
break;
case sl.VIEW_MODE.VIEW_DEPTH:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.DEPTH);
break;
case sl.VIEW_MODE.VIEW_NORMALS:
textureEye = zedCamera.CreateTextureImageType(sl.VIEW.NORMALS);
break;
}
normals = zedCamera.CreateTextureMeasureType(sl.MEASURE.NORMALS, resolution);
depth = zedCamera.CreateTextureMeasureType(sl.MEASURE.DEPTH, resolution);
}
}
void Update()
{
//Wait until the zed is awake *rise n shine*
if (zed.IsCameraReady)
{
//this 2D color texture from zed but has no usuable color values until
//it is passed into the GPU. Then a Unity shader can correct it into BGRA32
colorTexture = zed.CreateTextureImageType(sl.VIEW.LEFT);
XYZTexture = zed.CreateTextureMeasureType(sl.MEASURE.XYZ);
//if our GPU is hungry
if (ColorTextureCopy == null)
{
//create a rendertexture with the same specs as our color texture
ColorTextureCopy = new RenderTexture(colorTexture.width, colorTexture.height, 0, RenderTextureFormat.ARGB32);
}
if (XYZTextureCopy == null)
{
XYZTextureCopy = new RenderTexture(XYZTexture.width, XYZTexture.height, 0, RenderTextureFormat.ARGBFloat);
}
//feed the GPU a colortexture from the CPU *nom nom nom nom*
Graphics.Blit(XYZTexture, XYZTextureCopy);
Graphics.Blit(colorTexture, ColorTextureCopy);
//make sure we found our material and loaded it.
if (m != null)
{
//set our materials main texture to the rgb values stored in the GPU
m.SetTexture("_ColorTex", ColorTextureCopy);
m.SetTexture("_XYZTex", XYZTextureCopy);
//Get the GPU corrected pixel data and store it into a 2D texture
if (togglermcjoggler)
{
tex = GetRTPixels(XYZTextureCopy);
}
else
{
tex = GetRTPixels(ColorTextureCopy);
}
//Apply those values to the 2D texture
tex.Apply();
//Turn the RGBA32 pixel data into a byte array
imgData = tex.GetRawTextureData();
//Pass that byte array to our OpenCV counterpart through the wrapper function SobelFrame
imgData = SobelFrame(imgData, 1920, 1080);
//Load whatever OpenCV returned into a RGBA32 2D Texture
tex.LoadRawTextureData(imgData);
//Apply those values to the 2D texture
tex.Apply();
//Free the byte array on the OpenCV counterpart through the wrapper function FreeMem
FreeMem();
//Set our material's main texture to whatever OpenCV returned
m.mainTexture = tex;
}
}
}
void Start()
{
#if UNITY_EDITOR
UnityEditor.PlayerSettings.SetAspectRatio(UnityEditor.AspectRatio.Aspect16by9, true);
UnityEditor.PlayerSettings.SetAspectRatio(UnityEditor.AspectRatio.Aspect16by10, false);
UnityEditor.PlayerSettings.SetAspectRatio(UnityEditor.AspectRatio.Aspect4by3, false);
UnityEditor.PlayerSettings.SetAspectRatio(UnityEditor.AspectRatio.Aspect5by4, false);
#endif
bounds = new Bounds(transform.position, new Vector3(30, 30, 30));
sl.ZEDCamera zedCamera = sl.ZEDCamera.GetInstance();
//Set the camera parameters and scale the screen
if (zedCamera.CameraIsReady)
{
mainCamera.fieldOfView = zedCamera.GetFOV() * Mathf.Rad2Deg;
mainCamera.projectionMatrix = zedCamera.Projection;
mainCamera.nearClipPlane = 0.2f;
mainCamera.farClipPlane = 500.0f;
scale(canvas.gameObject, GetFOVFromProjectionMatrix(mainCamera.projectionMatrix));
}
else
{
scale(canvas.gameObject, mainCamera.fieldOfView);
}
if (xyz)
{
Shader.EnableKeyword("ZED_XYZ");
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.MEASURE.XYZ);
}
else
{
Shader.DisableKeyword("ZED_XYZ");
depthXYZZed = zedCamera.CreateTextureMeasureType(sl.MEASURE.DEPTH);
}
camZedLeft = zedCamera.CreateTextureImageType(videoType);
normals = zedCamera.CreateTextureMeasureType(sl.MEASURE.NORMALS);
//If forward mode is activated
if (mainCamera.actualRenderingPath == RenderingPath.Forward)
{
Shader.SetGlobalInt("_HasShadows", 0);
gameObject.transform.GetChild(0).GetComponent <MeshRenderer>().enabled = true;
//Set textures to the shader
matRGB = canvas.GetComponent <Renderer>().material;
matRGB.SetInt("_isLinear", System.Convert.ToInt32(QualitySettings.activeColorSpace));
forwardMat = Resources.Load("Materials/Mat_ZED_Forward") as Material;
if (videoType == sl.VIEW.LEFT_GREY || videoType == sl.VIEW.RIGHT_GREY || videoType == sl.VIEW.LEFT_UNRECTIFIED_GREY || videoType == sl.VIEW.RIGHT_UNRECTIFIED_GREY)
{
matRGB.SetInt("_isGrey", 1);
}
else
{
matRGB.SetInt("_isGrey", 0);
}
GameObject o = GameObject.CreatePrimitive(PrimitiveType.Quad);
o.name = "ZED_FORCE_SHADOW";
o.transform.parent = transform;
o.transform.localScale = new Vector3(0.001f, 0.001f, 0.001f);
o.transform.localPosition = new Vector3(0, 0, mainCamera.nearClipPlane);
o.GetComponent <MeshRenderer>().sharedMaterial = Resources.Load("Materials/Mat_ZED_Nothing") as Material;
Destroy(o.GetComponent <MeshCollider>());
o.hideFlags = HideFlags.HideAndDontSave;
matRGB.SetTexture("_MainTex", camZedLeft);
matRGB.SetTexture("_CameraTex", camZedLeft);
matRGB.SetTexture("_DepthXYZTex", depthXYZZed);
matRGB.SetTexture("_NormalsTex", normals);
forwardMat.SetTexture("_MainTex", camZedLeft);
forwardMat.SetTexture("_DepthXYZTex", depthXYZZed);
buffer = new CommandBuffer();
buffer.name = "ZED_DEPTH";
buffer.SetRenderTarget(BuiltinRenderTextureType.CurrentActive, BuiltinRenderTextureType.Depth);
buffer.DrawMesh(mesh.mesh, gameObject.transform.GetChild(0).transform.localToWorldMatrix, forwardMat);
// mainCamera.AddCommandBuffer(CameraEvent.BeforeDepthTexture, buffer);
computeBuffePointLight = new ComputeBuffer(NUMBER_POINT_LIGHT_MAX, SIZE_POINT_LIGHT_BYTES);
computeBuffePointLight.SetData(pointLights);
matRGB.SetBuffer("pointLights", computeBuffePointLight);
computeBufferSpotLight = new ComputeBuffer(NUMBER_SPOT_LIGHT_MAX, SIZE_SPOT_LIGHT_BYTES);
computeBufferSpotLight.SetData(spotLights);
matRGB.SetBuffer("spotLights", computeBufferSpotLight);
zedCamera.SetDepthMaxRangeValue(15);
}
else if (mainCamera.actualRenderingPath == RenderingPath.DeferredShading)
{
//Sets the custom shader for the deferred pipeline
GraphicsSettings.SetCustomShader(BuiltinShaderType.DeferredShading, (Resources.Load("Materials/Mat_ZED_Custom_Deferred") as Material).shader);
deferredMat = Resources.Load("Materials/Mat_ZED_Deferred") as Material;
deferredMat.SetTexture("_MainTex", camZedLeft);
deferredMat.SetTexture("_DepthXYZTex", depthXYZZed);
deferredMat.SetTexture("_NormalsTex", normals);
//gameObject.transform.GetChild(0).GetComponent<MeshRenderer>().enabled = false;
buffer = new CommandBuffer();
buffer.name = "ZED_DEPTH";
RenderTargetIdentifier[] mrt = { BuiltinRenderTextureType.GBuffer0, BuiltinRenderTextureType.GBuffer1, BuiltinRenderTextureType.GBuffer2, BuiltinRenderTextureType.GBuffer3 };
buffer.SetRenderTarget(mrt, BuiltinRenderTextureType.CameraTarget);
buffer.DrawMesh(mesh.mesh, gameObject.transform.GetChild(0).transform.localToWorldMatrix, deferredMat);
//Set an object in the scene to force shadow casting
gameObject.transform.GetChild(0).position = new Vector3(0, 0, mainCamera.nearClipPlane);
gameObject.transform.GetChild(0).localScale = new Vector3(0.01f, 0.01f, 0.01f);
gameObject.transform.GetChild(0).GetComponent <MeshRenderer>().sharedMaterial = Resources.Load("Materials/Mat_ZED_Nothing") as Material;
buffer.SetRenderTarget(BuiltinRenderTextureType.CameraTarget);
mainCamera.AddCommandBuffer(CameraEvent.AfterGBuffer, buffer);
}
else
{
Debug.LogError(" [ ZED Plugin ] : The rendering path " + mainCamera.actualRenderingPath.ToString() + " is not compatible with the ZED");
}
}
