private void DrawScreenDebug(IBatchRenderer sbatch)
{
if (DebugSettings.Get("DebugBackground"))
{
DebugRenderHelper.DrawCrossedCircle(sbatch, Color.Red, MapViewportCenter, 8, 2);
DebugRenderHelper.DrawHalfCrossedCircle(sbatch, Color.Red, MapOffset.Negate(), 8, 2);
var rTop = new FRectangle(CompleteMapViewport.X, CompleteMapViewport.Y, CompleteMapViewport.Width, GuaranteedMapViewport.Y - CompleteMapViewport.Y);
var rBot = new FRectangle(CompleteMapViewport.X, GuaranteedMapViewport.Bottom, CompleteMapViewport.Width, CompleteMapViewport.Bottom - GuaranteedMapViewport.Bottom);
var rLef = new FRectangle(CompleteMapViewport.X, CompleteMapViewport.Y, GuaranteedMapViewport.X - CompleteMapViewport.X, CompleteMapViewport.Height);
var rRig = new FRectangle(GuaranteedMapViewport.Right, CompleteMapViewport.Y, CompleteMapViewport.Right - GuaranteedMapViewport.Right, CompleteMapViewport.Height);
if (rTop.Area > 0.001f)
{
sbatch.FillRectangle(rTop, Color.DarkRed * 0.35f);
}
if (rBot.Area > 0.001f)
{
sbatch.FillRectangle(rBot, Color.DarkRed * 0.35f);
}
if (rLef.Area > 0.001f)
{
sbatch.FillRectangle(rLef, Color.DarkRed * 0.35f);
}
if (rRig.Area > 0.001f)
{
sbatch.FillRectangle(rRig, Color.DarkRed * 0.35f);
}
sbatch.DrawRectangle(GuaranteedMapViewport, Color.Red * 0.8f, 1f);
}
}
/// <summary>
/// Initializes a new instance of the MapCanvas class.
/// </summary>
public MapCanvas()
{
CommandManager.RegisterClassCommandBinding(
typeof(MapCanvas),
new CommandBinding(NavigationCommands.DecreaseZoom, (sender, e) => ((MapCanvas)sender).Zoom--));
CommandManager.RegisterClassCommandBinding(
typeof(MapCanvas),
new CommandBinding(NavigationCommands.IncreaseZoom, (sender, e) => ((MapCanvas)sender).Zoom++));
_offsetX = new MapOffset(_translate.GetType().GetProperty("X"), OnOffsetChanged, _tileGenerator);
_offsetY = new MapOffset(_translate.GetType().GetProperty("Y"), OnOffsetChanged, _tileGenerator);
_tilePanel = new TilePanel(_tileGenerator)
{
RenderTransform = _translate
};
// Register all mouse clicks.
Background = Brushes.Transparent;
Children.Add(_cache);
Children.Add(_tilePanel);
ClipToBounds = true;
Focusable = true;
FocusVisualStyle = null;
SnapsToDevicePixels = true;
// Need to set it here after ViewportKey has been initialized.
ViewportProperty = ViewportKey.DependencyProperty;
}
public static void ShowWindow()
{
Rect wr = new Rect(0, 0, 500, 500);
MapOffset window = (MapOffset)EditorWindow.GetWindowWithRect(typeof(MapOffset), wr, true, "Map Offset");
window.Show();
}
private void OnOffsetChanged(object sender, EventArgs e)
{
BeginUpdate();
MapOffset offset = (MapOffset)sender;
offset.Property.SetValue(_translate, offset.Offset, null);
EndUpdate();
}
/// <summary>Initializes a new instance of the MapCanvas class.</summary>
public MapCanvas()
{
_offsetX = new MapOffset(_translate.GetType().GetProperty("X"), this.OnOffsetChanged);
_offsetY = new MapOffset(_translate.GetType().GetProperty("Y"), this.OnOffsetChanged);
_tilePanel.RenderTransform = _translate;
this.Background = Brushes.Transparent; // Register all mouse clicks
this.Children.Add(_cache);
this.Children.Add(_tilePanel);
this.ClipToBounds = true;
this.Focusable = true;
this.FocusVisualStyle = null;
this.SnapsToDevicePixels = true;
}
public MapCanvas()
{
_offsetX = new MapOffset(_translate.GetType().GetProperty("X"), this.OnOffsetChanged);
_offsetY = new MapOffset(_translate.GetType().GetProperty("Y"), this.OnOffsetChanged);
_tilePanel.RenderTransform = _translate;
this.Background = new ImageBrush(TileGenerator.IBackGround); // Register all mouse clicks
this.Children.Add(_cache);
this.Children.Add(_tilePanel);
this.ClipToBounds = true;
this.Focusable = true;
this.FocusVisualStyle = null;
this.SnapsToDevicePixels = true;
this.Cursor = Cursors.Arrow;
}
/// <summary>
/// Creates a new MapOffset with values copied from another.
/// </summary>
public MapOffset(MapOffset clone) : base(clone)
{
Position = clone.Position;
Degree = clone.Degree;
}
public override IEnumerator Localize()
{
ARCameraImageBytes image = null;
bool isHD = HWARHelper.TryGetCameraImageBytes(out image);
if (image != null && image.IsAvailable)
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height);
HWARHelper.GetPlaneData(out pixels, image);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, image.Width, image.Height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapId = t.Result;
if (mapId > 0 && ARSpace.mapIdToOffset.ContainsKey(mapId))
{
if (mapId != lastLocalizedMapId)
{
if (m_ResetOnMapChange)
{
foreach (KeyValuePair <Transform, SpaceContainer> item in ARSpace.transformToSpace)
{
item.Value.filter.ResetFiltering();
}
}
lastLocalizedMapId = mapId;
OnMapChanged?.Invoke(mapId);
}
HWARHelper.GetRotation(ref rot);
MapOffset mo = ARSpace.mapIdToOffset[mapId];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
stats.localizationSuccessCount++;
Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = new Vector3
(
pos.x * mo.scale.x,
pos.y * mo.scale.y,
pos.z * mo.scale.z
);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
LocalizerPose localizerPose;
GetLocalizerPose(out localizerPose, mapId, pos, rot, m.inverse);
OnPoseFound?.Invoke(localizerPose);
}
}
yield return(StartCoroutine(base.Localize()));
}
public override IEnumerator Localize()
{
ARCameraImageBytes image = null;
if (m_Sdk.androidResolution == ImmersalSDK.CameraResolution.Max)
{
try
{
image = ARFrame.AcquirPreviewImageBytes();
}
catch (NullReferenceException e)
{
Debug.LogError("Cannot acquire FullHD image: " + e.Message);
image = ARFrame.AcquireCameraImageBytes();
}
}
else
{
image = ARFrame.AcquireCameraImageBytes();
}
if (image != null && image.IsAvailable)
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = HWARHelper.GetIntrinsics();
HWARHelper.GetPlaneData(out pixels, image);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, image.Width, image.Height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapId = t.Result;
if (mapId >= 0 && ARSpace.mapIdToOffset.ContainsKey(mapId))
{
if (mapId != lastLocalizedMapId)
{
if (m_ResetOnMapChange)
{
foreach (KeyValuePair <Transform, SpaceContainer> item in ARSpace.transformToSpace)
{
item.Value.filter.ResetFiltering();
}
}
lastLocalizedMapId = mapId;
}
HWARHelper.GetRotation(ref rot);
MapOffset mo = ARSpace.mapIdToOffset[mapId];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
stats.localizationSuccessCount++;
Matrix4x4 cloudSpace = mo.offset * Matrix4x4.TRS(pos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
}
}
yield return(StartCoroutine(base.Localize()));
}
