240 lines
9.3 KiB
C#
240 lines
9.3 KiB
C#
#if !PICO_OPENXR_SDK
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Runtime.InteropServices;
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using AOT;
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using Unity.XR.PICO.TOBSupport;
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using Unity.XR.PXR;
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using UnityEngine;
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using UnityEngine.UI;
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public class EnterpriseAPI : MonoBehaviour
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{
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private string tag = "CaptureLib ----";
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private PXR_CompositionLayer overlay = null;
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private PXRCaptureRenderMode Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
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byte[] imgByte ;
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private int width=2048;
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private int height=1536;
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public Material videoMaterial;
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public Transform FrameTarget;
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public Transform RenderTarget;
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public Text CanshuText;
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private bool isRuning=false;
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private bool d=false;
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// 将视频帧转换为 Unity 纹理
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Texture2D texture;
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public Text fpsText;
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public Toggle showtime;
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public Text showtimeText;
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bool camera_raw_data=false;
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private void Awake()
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{
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PXR_Manager.EnableVideoSeeThrough = true;
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PXR_Enterprise.UseGlobalPose(true);
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Debug.Log($"{tag} Awake ");
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PXR_Plugin.System.UPxr_GetConfigFloat(ConfigType.ToDelaSensorY);
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overlay = GetComponent<PXR_CompositionLayer>();
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if (overlay == null)
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{
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Debug.LogError("PXRLog Overlay is null!");
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overlay = gameObject.AddComponent<PXR_CompositionLayer>();
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}
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imgByte = new byte[width*height*4];
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texture = new Texture2D((int)width, (int)height, TextureFormat.RGBA32, false);
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videoMaterial.SetTexture("_MainTex", texture);
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PXR_Enterprise.InitEnterpriseService();
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PXR_Enterprise.BindEnterpriseService(b =>
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{
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Debug.Log($"{tag} Bind enterprise service success={b}");
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} );
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}
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public void OpenCamera()
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{
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Dictionary<string, string> cameraParams1 = new Dictionary<string, string>();
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cameraParams1.Add(PXRCapture.KEY_OUTPUT_CAMERA_RAW_DATA, camera_raw_data?PXRCapture.VALUE_TRUE:PXRCapture.VALUE_FALSE);
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PXR_Enterprise.Configurefor4U(cameraParams1);
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Dictionary<string, string> cameraParams = new Dictionary<string, string>();
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cameraParams.Add(PXRCapture.KEY_MCTF, PXRCapture.VALUE_TRUE);
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cameraParams.Add(PXRCapture.KEY_EIS, PXRCapture.VALUE_FALSE);
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cameraParams.Add(PXRCapture.KEY_MFNR, PXRCapture.VALUE_TRUE);
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PXR_Enterprise.OpenCameraAsyncfor4U(ret =>
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{
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Debug.Log($"{tag} OpenCameraAsync ret= {ret}");
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},cameraParams);
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Invoke(nameof(getCameraParameters), 1f);
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}
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public void SetRawData(int listChoice)
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{
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Debug.Log($"{tag} SetMode ret= {listChoice}");
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camera_raw_data=listChoice==1;
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}
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public void SetMode(int listChoice)
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{
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Debug.Log($"{tag} SetMode ret= {listChoice}");
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// if (listChoice > 0)
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{
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switch (listChoice)
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{
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case 0:
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Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_LEFT;
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break;
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case 1:
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Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_RIGHT;
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break;
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case 2:
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Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_3D;
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break;
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case 3:
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Mode = PXRCaptureRenderMode.PXRCapture_RenderMode_Interlace;
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break;
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}
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}
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}
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float outputFovHorizontal=76.35f;
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float outputFovVertical=61.05f;
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public void getCameraParameters()
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{
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Debug.Log($"{tag} getCamera ");
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double[] CameraIntrinsics=PXR_Enterprise.GetCameraIntrinsicsfor4U(width, height, outputFovHorizontal, outputFovVertical);
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PXR_Enterprise.GetCameraExtrinsicsfor4U(out Matrix4x4 leftExtrinsics, out Matrix4x4 rightExtrinsics);
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if (CameraIntrinsics!=null)
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{
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Debug.Log($"getCamera-- GetCameraIntrinsics:[{CameraIntrinsics[0]},{CameraIntrinsics[1]},{CameraIntrinsics[2]},{CameraIntrinsics[3]}]");
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}
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if (leftExtrinsics!=null)
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{
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Debug.Log(tag+"getCamera-- GetCameraExtrinsics leftExtrinsics :\n"+leftExtrinsics);
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}
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if (rightExtrinsics!=null)
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{
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Debug.Log(tag+"getCamera-- GetCameraExtrinsics rightExtrinsics :\n"+rightExtrinsics);
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}
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RGBCameraParamsNew param = PXR_Enterprise.GetCameraParametersNewfor4U(width, height);
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// Debug.Log($"getCamera GetCameraIntrinsics:[{param.cx},{param.cy},{param.fx},{param.fy}]");
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// Debug.Log($"getCamera GetCameraExtrinsics leftExtrinsics::[{param.l_pos} ------ {param.l_rot}]");
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// Debug.Log($"getCamera GetCameraExtrinsics rightExtrinsics::[{param.r_pos} ------ {param.r_rot}]");
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CanshuText.text =$"内参::[fx,fy,cx,cy]=[{param.fx},{param.fy},{param.cx},{param.cy}]\n"+ $"外参::L=[{param.l_pos},{param.l_rot}]\n"+$" R=[{param.r_pos},{param.r_rot}]";
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}
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public void StartPreview()
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{
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Debug.Log($"{tag} StartPreview ");
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overlay.enabled = true;
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Debug.Log($"{tag} externalAndroidSurfaceObject "+overlay.externalAndroidSurfaceObject);
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PXR_Enterprise.StartPreviewfor4U(overlay.externalAndroidSurfaceObject,Mode);
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FrameTarget.position = new Vector3(0,0,0);
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FrameTarget.rotation = Quaternion.Euler(0,0,0);
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RenderTarget.position = new Vector3(0,0,0);
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RenderTarget.rotation = Quaternion.Euler(0,0,0);
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}
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public float showTime = 1f;
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private int count = 0;
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private float deltaTime = 0f;
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public void StartGetImageData()
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{
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Debug.Log($"{tag} StartGetImageData ");
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overlay.enabled = false;
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IntPtr data=Marshal.UnsafeAddrOfPinnedArrayElement(imgByte,0);
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PXR_Enterprise.SetCameraFrameBufferfor4U(width,height,ref data, (Frame frame) =>
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{
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// Debug.Log($"{tag} sensorState position:[{frame.sensorState.globalPose.position.x},{frame.sensorState.globalPose.position.y},{frame.sensorState.globalPose.position.z}]," +
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// $" orientation:[{frame.sensorState.globalPose.orientation.x},{frame.sensorState.globalPose.orientation.y},{frame.sensorState.globalPose.orientation.z},{frame.sensorState.globalPose.orientation.w}] ");
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// FrameTarget.position=frame.pose.position;
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// FrameTarget.rotation = frame.pose.rotation;
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// FrameTarget.position = new Vector3(frame.pose.position.x, frame.pose.position.y, -frame.pose.position.z);
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// FrameTarget.rotation = new Quaternion(frame.pose.rotation.x, frame.pose.rotation.y, -frame.pose.rotation.z, -frame.pose.rotation.w);
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FrameTarget.position = frame.pose.position;
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FrameTarget.rotation = frame.pose.rotation;
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if (showtime.isOn)
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{
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showtimeText.text = frame.timestamp+"";
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}
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else
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{
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showtimeText.text = frame.timestamp+"";
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texture.LoadRawTextureData(imgByte);
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texture.Apply();
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}
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Debug.Log($"{tag} imageAvailable ");
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Debug.Log("onImageAvailable cameraFramePredictedDisplayTime = "+frame.timestamp +" Time.deltaTime:"+Time.deltaTime);
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Debug.Log("onImageAvailable size = "+frame.datasize);
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count++;
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});
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Debug.Log($"{tag} OpenCameraAsync Mode= {Mode}");
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bool ret=PXR_Enterprise.StartGetImageDatafor4U(Mode, width, height);
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isRuning=true;
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Debug.Log($"{tag} OpenCameraAsync ret= {ret}");
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}
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public void Release()
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{
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PXR_Enterprise.CloseCamerafor4U();
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}
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private double time = 0;
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private SensorState a;
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private void Update()
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{
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deltaTime += Time.deltaTime;
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if (deltaTime >= showTime) {
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if (count>0)
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{
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float fps = count / deltaTime;
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float milliSecond = deltaTime * 1000 / count;
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string strFpsInfo = string.Format("当前每帧渲染间隔：{0:0.0} ms ({1:0.} 帧每秒)", milliSecond, fps);
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fpsText.text = strFpsInfo;
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}
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count = 0;
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deltaTime = 0f;
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}
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if (reopen)
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{
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reopen = false;
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PXR_Enterprise.StartGetImageDatafor4U(Mode, width, height);
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}
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time= PXR_Enterprise.GetPredictedDisplayTime();
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a=PXR_Enterprise.GetPredictedMainSensorState(time);
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RenderTarget.position = a.pose.position;
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RenderTarget.rotation = a.pose.rotation;
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// RenderTarget.position = new Vector3(a.pose.position.x, a.pose.position.y, -a.pose.position.z);
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// RenderTarget.rotation = new Quaternion(a.pose.rotation.x, a.pose.rotation.y, -a.pose.rotation.z, -a.pose.rotation.w);
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}
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static bool reopen = false;
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private void OnApplicationPause(bool pauseStatus)
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{
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if (isRuning)
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{
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// PXR_Enterprise.SetRunningState(pauseStatus);
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if (pauseStatus)
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{
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PXR_Enterprise.CloseCamerafor4U();
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}
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else
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{
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PXR_Enterprise.OpenCameraAsyncfor4U(ret =>
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{
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Debug.Log($"{tag} OpenCameraAsync ret= {ret}");
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reopen = ret;
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});
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}
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}
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}
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}
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#endif |