// Use this for initialization
void Awake()
{
// gather dependencies
MeshMan = MeshManager.Instance;
VoxGridMan = new VoxelGridManager <byte>(myMinSize: DefaultVoxGridRes, myDefaultSize: DefaultVoxelSize);
VertVis = new Visualizer("VertexMarkers", "Marker", "Line", DefaultMaterial);
VertexInter = new Intersector();
Observer = GetComponent <SpatialMappingObserver>();
// finish setup
SensorField.Transform = Camera.main.transform;
SensorField.FOV = new Intersector.ViewVector((int)SensorFOV.x, (int)SensorFOV.y);
MeshDensity = MeshMan.Density;
SensorData = new byte[(int)SensorPixelCount.x, (int)SensorPixelCount.y];
for (int i = 0; i < SensorPixelCount.x; i++)
{
for (int j = 0; j < SensorPixelCount.y; j++)
{
SensorData[i, j] = (byte)(255f * (float)(i + j) / (SensorPixelCount.x + SensorPixelCount.y));
}
}
// finish dependendencies setup: some variables must be created in Start()
MeshMan.BoundsVis = new Visualizer("MeshBounds", "Marker", "Line", DefaultMaterial);
VerticesRendered = DefaultRenderVerts;
}
// Use this for initialization
void Start()
{
MeshMan = MeshManager.Instance;
VoxGridMan = VoxelGridManager.Instance;
MeshDensity = HoloToolkit.Unity.SpatialMapping.
SpatialMappingManager.Instance.SurfaceObserver.TrianglesPerCubicMeter;
}
// Use this for initialization
void Start()
{
TextObj = TextContainer.GetComponent <TextMesh>();
Driver = EFPContainer.GetComponent <ExternalFeedDriver>();
MeshManagerObj = EFPContainer.GetComponent <MeshManager>();
GridManager = EFPContainer.GetComponent <VoxelGridManager>();
}
/// <summary>
/// Called once at startup.
/// </summary>
void Start()
{
meshManager = MeshManager.Instance;
voxManager = VoxelGridManager.Instance;
voxManager.updateStruct = updateVoxelStructure;
}
// Use this for initialization
void Awake()
{
// gather dependencies
MeshMan = MeshManager.Instance;
VoxGridMan = new VoxelGridManager <byte>(myMinSize: DefaultVoxGridRes, myDefaultSize: DefaultVoxelSize);
VertVis = new Visualizer("VertexMarkers", "Marker", "Line", DefaultMaterial);
VertexInter = new Intersector();
Observer = GetComponent <SpatialMappingObserver>();
SensorDataUpdater = DataUpdateContainer.GetComponent <Receiving.ImageReceiver>();
// finish setup
SensorField.Transform = Camera.main.transform;
SensorField.FOV = new Intersector.ViewVector((int)(SensorFOV.x * SensorFOVReduction.x),
(int)(SensorFOV.y * SensorFOVReduction.y));
MeshDensity = MeshMan.Density;
SensorData = new byte[SensorDataHeight * SensorDataWidth];
// sync state to default values
VerticesRendered = DefaultRenderVerts;
ProximityConfig = DefaultToProximity;
}
/// <summary>
/// Sets vertex colors in all meshes ID'd as visible by meshGuide with values in voxGrid.
/// </summary>
public static void ColorMesh(ReadOnlyCollection <SpatialMappingSource.SurfaceObject> allMeshes,
List <SurfacePoints> extraData, List <bool> meshGuide, VoxelGridManager <byte> voxGrid,
Color32 color1, Color32 color2, Color32 noDataColor, byte value1, byte value2)
{
for (int i = 0; i < allMeshes.Count; i++)
{
if (meshGuide[i])
{
List <Color32> coloring = new List <Color32>();
for (int j = 0; j < extraData[i].Wvertices.Count; j++)
{
if (voxGrid.Contains(extraData[i].Wvertices[j]) && voxGrid.NonNullCell(extraData[i].Wvertices[j]))
{
coloring.Add(ScaleColor(voxGrid.Get(extraData[i].Wvertices[j]), value1, value2, color1, color2));
}
else
{
coloring.Add(noDataColor);
}
}
allMeshes[i].Filter.sharedMesh.SetColors(coloring);
}
}
}
/// <summary>
/// Updates contents of DiagnosticsMessage.
/// </summary>
private void UpdateDiagnostics()
{
Seconds = StopWatch.ElapsedTicks / Stopwatch.Frequency;
DiagnosticsMessage.Remove(0, DiagnosticsMessage.Length);
// display title
DiagnosticsMessage.Append("<size=144><b>Diagnostics</b></size>\n" +
"- Determines visibility of mesh sections\n" +
"- Calculates intersection with simulated sensor at main camera\n" +
"- Updates non-occluded vertices in voxel grid\n" +
"- Renders all vertices in visibile meshes via voxel grid data\n");
// display EFPDriver metadata
DiagnosticsMessage.AppendFormat("<b>Driver</b>\n" +
"Speed (ms / Hz): {0} / {1}\n" +
"Total Memory Use: {2}\n" +
"Elasped Time (s): {3}\n" +
"Sensor Position: {4}, Euler Angles: {5}\n",
Math.Round(Driver.DriverSpeed * 1000.0, 0), Math.Round(1.0 / Driver.DriverSpeed, 1),
MemToStr(GC.GetTotalMemory(false)), Seconds,
pointToStr(Driver.SensorField.Transform.position), pointToStr(Driver.SensorField.Transform.eulerAngles));
// display SpatialMappingObserver controls
DiagnosticsMessage.AppendFormat("<b>Spatial Mapping Manager</b>\n" +
"Mesh Density (triangles/m^3): {0}\n" +
"Mesh Refresh Time (s): {1}\n" +
"Cached Meshes: {2}\n",
Math.Round(Driver.MeshDensity, 0), Math.Round(Observer.TimeBetweenUpdates, 1),
Observer.SurfaceObjects.Count);
// display MeshManager metadata
DiagnosticsMessage.AppendFormat("<b>Mesh Manager</b>\n" +
"Speed (ms): {0}\n" +
"Visible Meshes: {1}\n" +
"Triangles (in visible meshes / total): {2} / {3}\n" +
"Vertices (in visible meshes / total): {4} / {5}\n",
Math.Round(Driver.MeshManSpeed * 1000.0, 0),
Driver.MeshMan.MeshesInView,
Driver.MeshMan.TrianglesInView, Driver.MeshMan.TotalTriangleCount,
Driver.MeshMan.VerticesInView, Driver.MeshMan.TotalVertexCount);
// display Intersector metadata
DiagnosticsMessage.AppendFormat("<b>Intersector</b>\n" +
"Speed (ms): {0}\n" +
"Occlusion Grid Resolution: {1}cm @ {2}m\n" +
"Vertices in FOV (total / non-occluded): {3} / {4}\n",
Math.Round(Driver.IntersectSpeed * 1000.0, 0),
Math.Round(Driver.OcclusionObjSize * 100, 1), Driver.OcclusionObjDistance,
Driver.VertexInter.VerticesInView, Driver.VertexInter.NonOccludedVertices);
// display VoxelGridManager metadata
VoxelGridManager <byte> .Metadata voxInfo = Driver.VoxGridMan.About();
DiagnosticsMessage.AppendFormat("<b>Voxel Grid Manager</b>\n" +
"Speed (ms): {0}\n" +
"Minimum Voxel Size (cm) {1}\n" +
"Grid Components: {2}\n" +
"Grid Voxels (non-null): {3} ({4})\n" +
"Grid Volume (non-null) (m^2): {5} ({6})\n" +
"Grid Memory Use: {7}\n",
Math.Round(Driver.VoxGridManSpeed * 1000.0, 0), Math.Round(Driver.VoxelGridRes * 100.0, 0),
voxInfo.components, voxInfo.voxels, voxInfo.nonNullVoxels,
Math.Round(voxInfo.volume, 1), Math.Round(voxInfo.nonNullVolume, 1), MemToStr(voxInfo.memSize));
// display VertexVisualizer metadata
DiagnosticsMessage.AppendFormat("<b>Vertex Visualizer</b>\n" +
"Speed (ms): {0}\n",
Math.Round(Driver.VertVisSpeed * 1000.0, 0));
}
/// <summary>
/// Updates contents of DiagnosticsMessage.
/// </summary>
private void UpdateDiagnostics()
{
Seconds = StopWatch.ElapsedTicks / Stopwatch.Frequency;
DiagnosticsMessage.Remove(0, DiagnosticsMessage.Length);
// display title
DiagnosticsMessage.Append("<size=144><b>External Feed Pathway Diagnostics</b></size>\n" +
"- Accesses entire cached spatial data\n" +
"- Calculates intersection with simulated sensor at main camera\n" +
"- Updates non-occluded vertices in voxel grid\n");
// display EFPDriver metadata
DiagnosticsMessage.AppendFormat("<b>Driver</b>\n" +
"Speed (ms / Hz): {0} / {1}\n" +
"Total Memory Use: {2}\n" +
"Elasped Time (s): {3}\n" +
"Sensor Position: {4}, Euler Angles: {5}\n",
Math.Round(Driver.DriverSpeed * 1000.0, 0), Math.Round(1.0 / Driver.DriverSpeed, 1),
MemToStr(GC.GetTotalMemory(false)), Seconds,
pointToStr(Driver.SensorField.Transform.position), pointToStr(Driver.SensorField.Transform.eulerAngles));
// display MeshManager metadata
DiagnosticsMessage.AppendFormat("<b>Mesh Manager</b>\n" +
"Speed (ms): {0}\n" +
"Mesh Density (triangles/m^3): {1}\n" +
"Mesh Visiblity FOV Factor: {2}\n" +
"Visible Meshes (total cached): {3} ({4})\n" +
"Triangles (visible meshes / total): {5} / {6}\n" +
"Vertices (visible meshes / total): {7} / {8}\n",
Math.Round(Driver.MeshManSpeed * 1000.0, 0), Driver.MeshDensity, Driver.MeshMan.FOVFactor,
Driver.MeshMan.MeshesInView, Driver.MeshMan.TotalMeshCount,
Driver.MeshMan.TrianglesInView, Driver.MeshMan.TotalTriangleCount,
Driver.MeshMan.VerticesInView, Driver.MeshMan.TotalVertexCount);
// display Intersector metadata
DiagnosticsMessage.AppendFormat("<b>Mesh Intersector</b>\n" +
"Speed (ms): {0}\n" +
"Occlusion Grid Resolution: {1}cm @ {2}m\n" +
"Total Vertices (in FOV): {3} ({4})\n" +
"Non-Occluded Vertices {5}\n",
Math.Round(Driver.IntersectSpeed * 1000.0, 0), Driver.OcclusionObjSize * 100, Driver.OcclusionObjDistance,
Driver.VertexInter.CheckedVertices, Driver.VertexInter.VerticesInView, Driver.VertexInter.NonOccludedVertices);
// display VoxelGridManager metadata
VoxelGridManager <byte> .Metadata voxInfo = Driver.VoxGridMan.About();
DiagnosticsMessage.AppendFormat("<b>Voxel Grid Manager</b>\n" +
"Speed (ms): {0}\n" +
"Minimum Voxel Size (cm) {1}\n" +
"Grid Components: {2}\n" +
"Grid Voxels (non-null): {3} ({4})\n" +
"Grid Volume (non-null) (m^2): {5} ({6})\n" +
"Grid Memory Use: {7}\n",
Math.Round(Driver.VoxGridManSpeed * 1000.0, 0), Math.Round(Driver.VoxGridMan.minSize * 100.0, 0),
voxInfo.components, voxInfo.voxels, voxInfo.nonNullVoxels,
Math.Round(voxInfo.volume, 1), Math.Round(voxInfo.nonNullVolume, 1), MemToStr(voxInfo.memSize));
// display VertexVisualizer metadata
DiagnosticsMessage.AppendFormat("<b>Vertex Visualizer</b>\n" +
"Speed (ms): {0}\n" +
"Rendered Mesh Vertices (total markers): {1} ({2})\n" +
"Rendered Mesh-Bounds Vertices (total markers): {3} ({4})\n" +
"Rendered Mesh-Bounds Lines (total lines): {5} ({6})\n",
Math.Round(Driver.VertVisSpeed * 1000.0, 0),
Driver.VertVis.MarkersInUse, Driver.VertVis.TotalMarkers,
Driver.MeshMan.BoundsVis.MarkersInUse, Driver.MeshMan.BoundsVis.TotalMarkers,
Driver.MeshMan.BoundsVis.LinesInUse, Driver.MeshMan.BoundsVis.TotalLines);
}
// Test VoxelGridManager
// Tests...
// Instance (T1)
// About (T1)
// Set (structUpdate: true) (T2)
// Set (structUpdate: false) (T3)
static void TestVoxelGridManager()
{
Console.WriteLine("\nTesting VoxelGridManager...\n");
// Test 1: Constructor, About
Console.WriteLine("Test 1: Creating VoxelGridManager...");
VoxelGridManager manager = VoxelGridManager.Instance;
Console.WriteLine(about(manager.about()));
Console.WriteLine("Re-accessing VoxleGridManager Instance...");
Console.WriteLine(about(manager.about()));
Console.WriteLine();
// Test 2: Set (structUpdate: true)
Vector3 boundsMin = new Vector3(0, 0, 0);
Vector3 boundsMax = new Vector3(5, 5, 5);
int iterations = 1000;
Console.WriteLine("Test 2: set... conducting {0} iterations of random points " + "between {1} and {2}... " +
"structUpdate: {3}", iterations, pointToStr(boundsMin), pointToStr(boundsMax),
VoxelGridManager.Instance.updateStruct);
System.Random rand = new System.Random();
Stopwatch stopWatch = new Stopwatch();
stopWatch.Start();
for (int i = 0; i < iterations; i++)
{
Vector3 point = randomPoint(boundsMin, boundsMax, rand);
byte value = (byte)rand.Next(0, 255);
List <Vector3> points = new List <Vector3>();
List <byte> values = new List <byte>();
points.Add(point);
values.Add(value);
VoxelGridManager.Instance.set(points, values);
}
stopWatch.Stop();
long millisecs = stopWatch.ElapsedMilliseconds;
float perOp = 1000f * millisecs / (2.0f * iterations);
Console.WriteLine("Avg time per op (us): {0}", perOp);
Console.WriteLine("Elasped time (ms): {0}", millisecs);
Console.WriteLine(about(manager.about()) + "\n");
// Test 3: Set (structUpdate: false)
VoxelGridManager.Instance.updateStruct = false;
boundsMin = new Vector3(0, 0, 0);
boundsMax = new Vector3(5, 5, 5);
iterations = 1000;
Console.WriteLine("Test 2: set... conducting {0} iterations of random points " + "between {1} and {2}... " +
"structUpdate: {3}", iterations, pointToStr(boundsMin), pointToStr(boundsMax),
VoxelGridManager.Instance.updateStruct);
stopWatch.Start();
for (int i = 0; i < iterations; i++)
{
Vector3 point = randomPoint(boundsMin, boundsMax, rand);
byte value = (byte)rand.Next(0, 255);
List <Vector3> points = new List <Vector3>();
List <byte> values = new List <byte>();
points.Add(point);
values.Add(value);
VoxelGridManager.Instance.set(points, values);
}
stopWatch.Stop();
millisecs = stopWatch.ElapsedMilliseconds;
perOp = 1000f * millisecs / (2.0f * iterations);
Console.WriteLine("Avg time per op (us): {0}", perOp);
Console.WriteLine("Elasped time (ms): {0}", millisecs);
Console.WriteLine(about(manager.about()) + "\n");
}
/// <summary>
/// Sets vertex colors in all meshes ID'd as visible by meshGuide with values in voxGrid.
/// </summary>
public static void ColorMesh(ReadOnlyCollection <SpatialMappingSource.SurfaceObject> allMeshes,
List <SurfacePoints> extraData, List <bool> meshGuide, VoxelGridManager <byte> voxGrid,
Color32 color1, Color32 color2, byte value1, byte value2)
{
for (int i = 0; i < allMeshes.Count; i++)
{
if (meshGuide[i])
{
List <Color32> coloring = new List <Color32>();
for (int j = 0; j < extraData[i].Wvertices.Count; j++)
{
float scaledVal = (float)(voxGrid.Get(extraData[i].Wvertices[j]) - value1)
/ (float)(value2 - value1);
coloring.Add(LerpViaHSV(color1, color2, scaledVal));
}
allMeshes[i].Filter.sharedMesh.SetColors(coloring);
}
}
}
