Zed-Unity插件中代码注释——ZEDManager.cs
文章目录
- Zed Unity 插件中的代码注释
-
- 引言
- ZEDManager.cs
Zed Unity 插件中的代码注释
引言
Zed真是一个精品商品，提供的api的解释真的很齐全。 代码的可读性很高。能感觉到写代码的人在代码的规范度上下的功夫。
zed-unity的插件中，有几个比较核心的代码脚本。最主要的代码脚本有3500多行，里面已经提供了英文的注释，包括每一个变量，不得不说真的很良心。 因为自己本身也在通读学习，所以顺便把汉化注释和自己的理解放了进去，这样方便以后师门的师弟师妹们看。
考虑到性价比的问题，并不是专业汉化和专业解释，只是比较粗糙地注释了一下。
ZEDManager.cs
这是插件中的核心代码，是我们使用相机最优先的脚本。
using UnityEngine;
using System;
using System.Threading;
using UnityEngine.XR;
using System.Collections;
using System.Collections.Generic;
#if UNITY_EDITOR
using UnityEditor;
#endif
/// 注释者：lance
/// QQ：261983626
/// 日期：2020/8/27
/// Cameras may not necessarily be connected, if they haven't finished connecting, have disconnected,
/// or if no camera is available.
/// 如果尚未完成连接，或者已断开连接，又或没有可用的摄像机，则不一定需要连接摄像机。
///
/// Normally, ZEDManager's GameObject will move according to the tracking. But if in AR pass-through mode,
/// then the Camera_eyes object in ZED_Rig_Stereo will move while this object stays still.
/// 通常，ZEDManager的GameObject将根据跟踪移动。但是，如果在AR模式下，则ZED_Rig_Stereo中的Camera_eyes对象将移动，而该对象保持静止
///
[HideInInspector] public bool enableTracking = true; // 相机自身追踪使能
/// This is rarely needed, but can be useful for understanding how the ZED output works.
/// 是否显示用于立体AR模式的隐藏摄像机装备，以准备用于HMD输出的图像。 /// 这很少需要，但对于理解ZED输出的工作方式很有用。
///
public bool showARRig
{
get { return showarrig; }
set
{
if (Application.isPlaying && showarrig != value && zedRigDisplayer != null)
{
zedRigDisplayer.hideFlags = value ? HideFlags.None : HideFlags.HideInHierarchy;
}
showarrig = value;
}
}
private float maxdepthrange = 40f;
public float maxDepthRange
{
get { return maxdepthrange; }
set
{
maxdepthrange = Mathf.Clamp(value, 0, 40);
if (Application.isPlaying)
{
setRenderingSettings();
}
}
}
/// In AR mode, offset is each camera's position relative to center of the user's head. Otherwise, cameras are just spaced
/// by the camera's baseline/IPD, or no offset is applied if there's just one camera.
///
void AdjustZEDRigCameraPosition()
{
//Vector3 rightCameraOffset = new Vector3(zedCamera.Baseline, 0.0f, 0.0f);
if (isStereoRig && hasXRDevice()) //Using AR pass-through mode.
{
//zedRigRoot transform (origin of the global camera) is placed on the HMD headset. Therefore, we move the
//camera in front of it by offsetHmdZEDPosition to compensate for the ZED's position on the headset.
//If values are wrong, tweak calibration file created in ZEDMixedRealityPlugin.
camLeftTransform.localPosition = arRig.HmdToZEDCalibration.translation;
camLeftTransform.localRotation = arRig.HmdToZEDCalibration.rotation;
if (camRightTransform)
camRightTransform.localPosition =
camLeftTransform.localPosition +
new Vector3(zedCamera.Baseline, 0.0f, 0.0f); //Space the eyes apart.
if (camRightTransform) camRightTransform.localRotation = camLeftTransform.localRotation;
}
else if (camLeftTransform && camRightTransform) //Using stereo rig, but no VR headset.
{
//When no VR HMD is available, simply put the origin at the left camera.
camLeftTransform.localPosition = Vector3.zero;
camLeftTransform.localRotation = Quaternion.identity;
camRightTransform.localPosition = new Vector3(zedCamera.Baseline, 0.0f, 0.0f); //Space the eyes apart.
camRightTransform.localRotation = Quaternion.identity;
}
else //Using mono rig (ZED_Rig_Mono). No offset needed.
{
if (GetMainCameraTransform())
{
GetMainCameraTransform().localPosition = Vector3.zero;
GetMainCameraTransform().localRotation = Quaternion.identity;
}
}
}
/// True to make the mesh visible, false to make it invisible.
public void SwitchDisplayMeshState(bool state)
{
if (spatialMapping != null)
spatialMapping.SwitchDisplayMeshState(state);
}
public void ClearAllMeshes()
{
if (spatialMapping != null)
spatialMapping.ClearAllMeshes();
}
/// True to pause the scanning, false to unpause it.
public void SwitchPauseState(bool state)
{
if (spatialMapping != null)
spatialMapping.SwitchPauseState(state);
}
/// True if successfully loaded, false otherwise.Note: This will lock the main thread for a moment, which may appear to be a freeze.
/// 开始ZED对象检测。
/// 注意：这将锁定主线程一会儿，这似乎是冻结。J
/// Lance:这边指的是，当前要初次初始化物品检测的模型，可能考虑到要加载模型或者使用gpu加速设置，会导致游戏暂停一会
///
public void StartObjectDetection()
{
//We start a coroutine so we can delay actually starting the detection.
//This is because the main thread is locked for awhile when you call this, appearing like a freeze.
//This time lets us deliver a log message to the user indicating that this is expected.
//我们启动协程，因此我们可以实际上延迟了检测的启动。
//这是因为调用此方法时主线程被锁定了一段时间，看起来像是冻结。
//这次，我们可以向用户发送一条日志消息，表明这是预期的。
//Lance：可能我们的物品检测算法要与这部分相关
StartCoroutine(startObjectDetection());
}
/// true state, the object detection will pause. It will resume otherwise
public void SwitchObjectDetectionPauseState(bool state)
{
if (zedCamera != null)
{
if (objectDetectionRunning)
zedCamera.PauseObjectsDetection(state);
}
}
#endregion
///
// AR REGION //
///
#region AR_CAMERAS
/// Hidden by default as it rarely needs to be changed.
/// 立体声装备可调整来自ZED_Rig_Stereo的图像，使其在HMD中看起来正确。
/// 默认情况下处于隐藏状态，因为它很少需要更改。
///
[HideInInspector] public GameObject zedRigDisplayer;
private ZEDMixedRealityPlugin arRig;
///