RecoInfo checkRecoID(string newId)
{
RecoInfo rinfo = null;
if (newId != null)
{
foreach (RecoInfo ri in recoList)
{
Debug.Log(ri.id);
Debug.Log(newId);
if (ri.id.Contains(newId))
{
rinfo = ri;
}
}
}
return(rinfo);
}
public void camLocalize(string jsonanswer, bool geopose)
{
var jsonParse = JSON.Parse(jsonanswer);
float px, py, pz, ox, oy, oz, ow;
int objectsAmount = -1; string js, sessionId;
if (!geopose)
{
if (jsonParse["camera"] != null)
{
sessionId = jsonParse["reconstruction_id"];
do
{
objectsAmount++;
js = jsonParse["placeholders"][objectsAmount]["placeholder_id"];
} while (js != null);
Debug.Log("nodeAmount = " + objectsAmount + ", RecoArray Length = " + recoList.Count);
px = jsonParse["camera"]["pose"]["position"]["x"].AsFloat;
py = jsonParse["camera"]["pose"]["position"]["y"].AsFloat;
pz = jsonParse["camera"]["pose"]["position"]["z"].AsFloat;
ox = jsonParse["camera"]["pose"]["orientation"]["x"].AsFloat;
oy = jsonParse["camera"]["pose"]["orientation"]["y"].AsFloat;
oz = jsonParse["camera"]["pose"]["orientation"]["z"].AsFloat;
ow = jsonParse["camera"]["pose"]["orientation"]["w"].AsFloat;
uim.setDebugPose(px, py, pz, ox, oy, oz, ow, sessionId);
GameObject newCam = new GameObject("tempCam");
newCam.transform.localPosition = new Vector3(px, py, pz);
newCam.transform.localRotation = new Quaternion(ox, oy, oz, ow);
newCam.transform.localPosition = new Vector3(px, -newCam.transform.localPosition.y, pz);
// Debug.Log("Camera new: " + newCam.transform.localPosition.x + ", " + newCam.transform.localPosition.y + ", " + newCam.transform.localPosition.z);
newCam.transform.localRotation = Quaternion.Euler(-newCam.transform.localRotation.eulerAngles.x, newCam.transform.localRotation.eulerAngles.y, -newCam.transform.localRotation.eulerAngles.z);
GameObject zeroCoord = new GameObject("Zero");
zeroCoord.transform.SetParent(newCam.transform);
RecoInfo currentRi = checkRecoID(sessionId);
StickerInfo[] stickers;
stickers = null;
if (currentRi == null)
{
currentRi = new RecoInfo();
currentRi.id = sessionId;
if (objectsAmount > 0)
{
currentRi.scale3dcloud = tempScale3d;
stickers = new StickerInfo[objectsAmount];
currentRi.stickerArray = new StickerInfo[objectsAmount];
GameObject[,] placeHolders = new GameObject[objectsAmount, 4];
for (int j = 0; j < objectsAmount; j++)
{
currentRi.stickerArray[j] = new StickerInfo();
stickers[j] = new StickerInfo();
currentRi.stickerArray[j].positions = new Vector3[4];
float positionObjX = jsonParse["placeholders"][j]["pose"]["position"]["x"].AsFloat;
float positionObjY = jsonParse["placeholders"][j]["pose"]["position"]["y"].AsFloat;
float positionObjZ = jsonParse["placeholders"][j]["pose"]["position"]["z"].AsFloat;
currentRi.stickerArray[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
// Debug.Log("currentRi.stickerArray[j].mainPositions = " + currentRi.stickerArray[j].mainPositions);
stickers[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
currentRi.stickerArray[j].orientations = new Vector4(jsonParse["placeholders"][j]["pose"]["orientation"]["x"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["y"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["z"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["w"].AsFloat);
stickers[j].orientations = currentRi.stickerArray[j].orientations;
// Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations" + currentRi.stickerArray[j].orientations);
for (int i = 0; i < 4; i++)
{
px = jsonParse["placeholders"][j]["frame"][i]["x"].AsFloat + positionObjX;
py = jsonParse["placeholders"][j]["frame"][i]["y"].AsFloat + positionObjY;
pz = jsonParse["placeholders"][j]["frame"][i]["z"].AsFloat + positionObjZ;
placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
placeHolders[j, i].transform.SetParent(newCam.transform);
py = -py;
placeHolders[j, i].transform.position = new Vector3(px, py, pz);
currentRi.stickerArray[j].positions[i] = new Vector3(px, py, pz);
}
string idnode = "" + jsonParse["placeholders"][j]["placeholder_id"];
for (int x = 0; x < objectsAmount; x++)
{
string idobj = "" + jsonParse["objects"][x]["sticker"]["sticker_id"];
if (idobj.Contains(idnode))
{
stickers[j].sPath = "" + jsonParse["objects"][x]["sticker"]["path"];
stickers[j].sText = "" + jsonParse["objects"][x]["sticker"]["sticker_text"];
stickers[j].sType = "" + jsonParse["objects"][x]["sticker"]["sticker_type"];
stickers[j].sSubType = "" + jsonParse["objects"][x]["sticker"]["sticker_subtype"];
stickers[j].sDescription = "" + jsonParse["objects"][x]["sticker"]["description"];
stickers[j].SModel_scale = "" + jsonParse["objects"][x]["sticker"]["model_scale"];
stickers[j].sId = "" + jsonParse["objects"][x]["sticker"]["sticker_id"];
stickers[j].objectId = "" + jsonParse["objects"][x]["placeholder"]["placeholder_id"];
stickers[j].sImage = "" + jsonParse["objects"][x]["sticker"]["Image"];
stickers[j].sAddress = "" + jsonParse["objects"][x]["sticker"]["Address"];
stickers[j].sFeedbackAmount = "" + jsonParse["objects"][x]["sticker"]["Feedback amount"];
stickers[j].sRating = "" + jsonParse["objects"][x]["sticker"]["Rating"];
stickers[j].sUrl_ta = "" + jsonParse["objects"][x]["sticker"]["url_ta"];
stickers[j].sTrajectoryPath = "" + jsonParse["objects"][x]["sticker"]["trajectory_path"];
stickers[j].sTrajectoryOffset = "" + jsonParse["objects"][x]["sticker"]["trajectory_time_offset"];
stickers[j].sTrajectoryPeriod = "" + jsonParse["objects"][x]["sticker"]["trajectory_time_period"];
currentRi.stickerArray[j].sPath = stickers[j].sPath;
currentRi.stickerArray[j].sText = stickers[j].sText;
currentRi.stickerArray[j].sType = stickers[j].sType;
currentRi.stickerArray[j].sSubType = stickers[j].sSubType;
currentRi.stickerArray[j].sDescription = stickers[j].sDescription;
currentRi.stickerArray[j].SModel_scale = stickers[j].SModel_scale;
currentRi.stickerArray[j].sId = stickers[j].sId;
currentRi.stickerArray[j].sImage = stickers[j].sImage;
currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
currentRi.stickerArray[j].sRating = stickers[j].sRating;
currentRi.stickerArray[j].sUrl_ta = stickers[j].sUrl_ta;
currentRi.stickerArray[j].sTrajectoryPath = stickers[j].sTrajectoryPath;
currentRi.stickerArray[j].sTrajectoryOffset = stickers[j].sTrajectoryOffset;
currentRi.stickerArray[j].sTrajectoryPeriod = stickers[j].sTrajectoryPeriod;
}
}
}
recoList.Add(currentRi);
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
for (int j = 0; j < objectsAmount; j++)
{
stickers[j].positions = new Vector3[4];
for (int i = 0; i < 4; i++)
{
stickers[j].positions[i] = placeHolders[j, i].transform.position;
}
}
}
}
else if (currentRi != null)
{
cameraDistance = Vector3.Magnitude(currentRi.lastCamCoordinate - new Vector3(px, py, pz));
tempScale3d = currentRi.scale3dcloud;
int savedNodeLentgh = currentRi.stickerArray.Length;
stickers = new StickerInfo[savedNodeLentgh];
GameObject[,] placeHolders = new GameObject[savedNodeLentgh, 4];
for (int j = 0; j < savedNodeLentgh; j++)
{
stickers[j] = new StickerInfo();
for (int i = 0; i < 4; i++)
{
placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
placeHolders[j, i].transform.SetParent(newCam.transform);
placeHolders[j, i].transform.position = currentRi.stickerArray[j].positions[i];
}
stickers[j].sPath = currentRi.stickerArray[j].sPath;
stickers[j].sText = currentRi.stickerArray[j].sText;
stickers[j].sType = currentRi.stickerArray[j].sType;
stickers[j].sSubType = currentRi.stickerArray[j].sSubType;
stickers[j].sDescription = currentRi.stickerArray[j].sDescription;
stickers[j].sId = currentRi.stickerArray[j].sId;
stickers[j].sImage = currentRi.stickerArray[j].sImage;
currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
currentRi.stickerArray[j].sRating = stickers[j].sRating;
currentRi.stickerArray[j].sUrl_ta = stickers[j].sUrl_ta;
}
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
for (int j = 0; j < savedNodeLentgh; j++)
{
stickers[j].positions = new Vector3[4];
for (int i = 0; i < 4; i++)
{
stickers[j].positions[i] = placeHolders[j, i].transform.position;
}
}
}
if (zeroCoord.transform.eulerAngles == Vector3.zero)
{
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
}
currentRi.lastCamCoordinate = new Vector3(px, py, pz);
localizationStatus = LocalizationStatus.Ready;
getStickersAction(currentRi.id, zeroCoord.transform, stickers);
Destroy(newCam);
}
else
{
Debug.Log("Cant localize");
localizationStatus = LocalizationStatus.CantLocalize;
uim.setDebugPose(0, 0, 0, 0, 0, 0, 0, "cant loc");
getStickersAction(null, null, null);
}
}
// -- if -- GEOPOSE
else
{
if (jsonParse["geopose"] != null)
{
sessionId = jsonParse["geopose"]["reconstruction_id"];
Debug.Log("sessioID: " + sessionId);
do
{
objectsAmount++;
js = jsonParse["scrs"][objectsAmount]["type"];
// Debug.Log("js node [" + objectsAmount + "] - " + js);
} while (js != null);
Debug.Log("nodeAmount = " + objectsAmount + ", RecoArray Length = " + recoList.Count);
px = jsonParse["geopose"]["local"]["position"]["x"].AsFloat;
py = jsonParse["geopose"]["local"]["position"]["y"].AsFloat;
pz = jsonParse["geopose"]["local"]["position"]["z"].AsFloat;
ox = jsonParse["geopose"]["local"]["orientation"]["x"].AsFloat;
oy = jsonParse["geopose"]["local"]["orientation"]["y"].AsFloat;
oz = jsonParse["geopose"]["local"]["orientation"]["z"].AsFloat;
ow = jsonParse["geopose"]["local"]["orientation"]["w"].AsFloat;
uim.setDebugPose(px, py, pz, ox, oy, oz, ow, sessionId);
GameObject newCam = new GameObject("tempCam");
newCam.transform.localPosition = new Vector3(px, py, pz);
newCam.transform.localRotation = new Quaternion(ox, oy, oz, ow);
newCam.transform.localPosition = new Vector3(px, -newCam.transform.localPosition.y, pz);
// Debug.Log("Camera new: " + newCam.transform.localPosition.x + ", " + newCam.transform.localPosition.y + ", " + newCam.transform.localPosition.z);
newCam.transform.localRotation = Quaternion.Euler(-newCam.transform.localRotation.eulerAngles.x, newCam.transform.localRotation.eulerAngles.y, -newCam.transform.localRotation.eulerAngles.z);
GameObject zeroCoord = new GameObject("Zero");
zeroCoord.transform.SetParent(newCam.transform);
RecoInfo currentRi = checkRecoID(sessionId);
StickerInfo[] stickers;
stickers = null;
if (currentRi == null)
{
currentRi = new RecoInfo();
currentRi.id = sessionId;
if (objectsAmount > 0)
{
currentRi.scale3dcloud = tempScale3d;
stickers = new StickerInfo[objectsAmount];
currentRi.stickerArray = new StickerInfo[objectsAmount];
GameObject[,] placeHolders = new GameObject[objectsAmount, 4];
for (int j = 0; j < objectsAmount; j++)
{
currentRi.stickerArray[j] = new StickerInfo();
stickers[j] = new StickerInfo();
currentRi.stickerArray[j].positions = new Vector3[4];
float positionObjX = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["x"].AsFloat;
float positionObjY = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["y"].AsFloat;
float positionObjZ = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["z"].AsFloat;
currentRi.stickerArray[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
// Debug.Log("currentRi.stickerArray[j].mainPositions = " + currentRi.stickerArray[j].mainPositions);
stickers[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
currentRi.stickerArray[j].orientations = new Vector4(jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["x"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["y"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["z"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["w"].AsFloat);
stickers[j].orientations = currentRi.stickerArray[j].orientations;
Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations x" + currentRi.stickerArray[j].orientations.x + " " + stickers[j].orientations.x);
Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations y" + currentRi.stickerArray[j].orientations.y + " " + stickers[j].orientations.y);
Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations z" + currentRi.stickerArray[j].orientations.z + " " + stickers[j].orientations.z);
Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations w" + currentRi.stickerArray[j].orientations.w + " " + stickers[j].orientations.w);
for (int i = 0; i < 4; i++)
{
px = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["x"].AsFloat + positionObjX;
py = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["y"].AsFloat + positionObjY;
pz = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["z"].AsFloat + positionObjZ;
placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
placeHolders[j, i].transform.SetParent(newCam.transform);
py = -py;
placeHolders[j, i].transform.position = new Vector3(px, py, pz);
currentRi.stickerArray[j].positions[i] = new Vector3(px, py, pz);
}
stickers[j].sPath = "" + jsonParse["scrs"][j]["content"]["custom_data"]["path"];
stickers[j].sText = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_text"];
stickers[j].sType = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_type"];
stickers[j].sSubType = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_subtype"];
stickers[j].sDescription = "" + jsonParse["scrs"][j]["content"]["custom_data"]["description"];
stickers[j].SModel_scale = "" + jsonParse["scrs"][j]["content"]["custom_data"]["model_scale"];
stickers[j].sId = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_id"];
stickers[j].objectId = "" + jsonParse["scrs"][j]["content"]["custom_data"]["placeholder_id"];
stickers[j].sImage = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Image"];
stickers[j].sAddress = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Address"];
stickers[j].sFeedbackAmount = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Feedback amount"];
stickers[j].sRating = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Rating"];
stickers[j].sUrl_ta = "" + jsonParse["scrs"][j]["content"]["custom_data"]["url_ta"];
stickers[j].sTrajectoryPath = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_path"];
stickers[j].sTrajectoryOffset = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_time_offset"];
stickers[j].sTrajectoryPeriod = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_time_period"];
currentRi.stickerArray[j].sPath = stickers[j].sPath;
currentRi.stickerArray[j].sText = stickers[j].sText;
currentRi.stickerArray[j].sType = stickers[j].sType;
currentRi.stickerArray[j].sSubType = stickers[j].sSubType;
currentRi.stickerArray[j].sDescription = stickers[j].sDescription;
currentRi.stickerArray[j].SModel_scale = stickers[j].SModel_scale;
currentRi.stickerArray[j].sId = stickers[j].sId;
currentRi.stickerArray[j].sImage = stickers[j].sImage;
currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
currentRi.stickerArray[j].sRating = stickers[j].sRating;
currentRi.stickerArray[j].sUrl_ta = stickers[j].sUrl_ta;
currentRi.stickerArray[j].sTrajectoryPath = stickers[j].sTrajectoryPath;
currentRi.stickerArray[j].sTrajectoryOffset = stickers[j].sTrajectoryOffset;
currentRi.stickerArray[j].sTrajectoryPeriod = stickers[j].sTrajectoryPeriod;
}
recoList.Add(currentRi);
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
for (int j = 0; j < objectsAmount; j++)
{
stickers[j].positions = new Vector3[4];
for (int i = 0; i < 4; i++)
{
stickers[j].positions[i] = placeHolders[j, i].transform.position;
}
}
}
}
else if (currentRi != null)
{
cameraDistance = Vector3.Magnitude(currentRi.lastCamCoordinate - new Vector3(px, py, pz));
tempScale3d = currentRi.scale3dcloud;
int savedNodeLentgh = currentRi.stickerArray.Length;
stickers = new StickerInfo[savedNodeLentgh];
GameObject[,] placeHolders = new GameObject[savedNodeLentgh, 4];
for (int j = 0; j < savedNodeLentgh; j++)
{
stickers[j] = new StickerInfo();
for (int i = 0; i < 4; i++)
{
placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
placeHolders[j, i].transform.SetParent(newCam.transform);
placeHolders[j, i].transform.position = currentRi.stickerArray[j].positions[i];
}
stickers[j].sPath = currentRi.stickerArray[j].sPath;
stickers[j].sText = currentRi.stickerArray[j].sText;
stickers[j].sType = currentRi.stickerArray[j].sType;
stickers[j].sSubType = currentRi.stickerArray[j].sSubType;
stickers[j].sDescription = currentRi.stickerArray[j].sDescription;
stickers[j].sId = currentRi.stickerArray[j].sId;
stickers[j].sImage = currentRi.stickerArray[j].sImage;
currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
currentRi.stickerArray[j].sRating = stickers[j].sRating;
currentRi.stickerArray[j].sUrl_ta = stickers[j].sUrl_ta;
}
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
for (int j = 0; j < savedNodeLentgh; j++)
{
stickers[j].positions = new Vector3[4];
for (int i = 0; i < 4; i++)
{
stickers[j].positions[i] = placeHolders[j, i].transform.position;
}
}
}
if (zeroCoord.transform.eulerAngles == Vector3.zero)
{
newCam.transform.position = cameraPositionInLocalization;
newCam.transform.eulerAngles = cameraRotationInLocalization;
newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
}
currentRi.lastCamCoordinate = new Vector3(px, py, pz);
localizationStatus = LocalizationStatus.Ready;
getStickersAction(currentRi.id, zeroCoord.transform, stickers);
Destroy(newCam);
}
else
{
Debug.Log("Cant localize");
localizationStatus = LocalizationStatus.CantLocalize;
uim.setDebugPose(0, 0, 0, 0, 0, 0, 0, "cant loc");
getStickersAction(null, null, null);
}
}
}
