public ViewData(RelativeOrientation r)
{
this._ro = r;
InitializeComponent();
this.Text = Resources.Prog_Name+" - 相对定向元素查看";
FillData();
}
public ViewData(RelativeOrientation r)
{
this._ro = r;
InitializeComponent();
this.Text = Resources.Prog_Name + " - 相对定向元素查看";
FillData();
}
// Update is called once per frame
void Update()
{
statDeltaCurrent += Time.deltaTime;
if (statDeltaCurrent > statDelta)
{
trackStats(Time.time);
statDeltaCurrent = 0;
}
switch (trackingMode)
{
case TrackingMode.tracking:
if (checkForWallPass())
{
Debug.Log("Wall pass");
//reset unity viewpoint to path.
Vector3 deltaMove = GetComponent <RouteProgressController>().progressPosition - unityViewpoint.transform.position + new Vector3(0f, statDeviceHeight, 0f);
RelativeOrientation r = ARCoreDevice.GetComponent <RelativeOrientation>();
r.worldOffsetPostion = new Vector3(r.worldOffsetPostion.x + deltaMove.x, r.worldOffsetPostion.y + deltaMove.y, r.worldOffsetPostion.z + deltaMove.z);
}
break;
case TrackingMode.ghosting:
routeProgress.progress = ghostingProgressStart + ghostingProgressSpeed * (Time.time - ghostingTimeStart);
//unityViewpoint.transform.position = routeProgress.getRoutePosition(routeProgress.progress) + new Vector3(0f, 1.4f, 0f);
unityViewpoint.transform.position = routeProgress.getRoutePosition(routeProgress.progress) + new Vector3(0f, 1.4f, 0f);
//get orientation from gyro instead arcore
/*
* RelativeOrientation ro= ARCoreDevice.GetComponent<RelativeOrientation>()
* unityViewpoint.transform.rotation = TrackingUpdate.GyroQuaternion()*Quaternion.Loo(ro.rotOffX,ro.rotOffY,ro.rotOffZ);
*
* FindObjectOfType<messageController>().message("Gyro:\n"+ TrackingUpdate.GyroQuaternion().ToString(), 4.0f, "gyro");
* FindObjectOfType<messageController>().message("Gyro active:\n" + Input.gyro.enabled, 1.0f, "gyro2");
*/
break;
}
}
/// <summary>
/// 相对定向
/// </summary>
private void button3_Click(object sender, EventArgs e)
{
if (this._imgPane == null)
{
MessageBox.Show("请先打开数据并计算像平面坐标", Resources.Prog_Name, MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
try
{
_rO = new RelativeOrientation(_imgPane.GetDictionaryForCalculation(), _camPara);
_rO.SetLimit(0.3e-4); //书P83（5-27）下面要求
_rO.Process();
new ViewData(_rO).Show();
}
catch (Exception ex)
{
MessageBox.Show(ex.Message, Resources.Prog_Name, MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
public void trackingGained()
{
if (trackingMode == TrackingMode.ghosting)
{
FindObjectOfType <messageController>().message("Tracking wiederhergestellt.", 4.0f, "ghostingStatus");
trackingMode = TrackingMode.tracking;
Vector3 desiredPosition = unityViewpoint.transform.position;
RelativeOrientation r = ARCoreDevice.GetComponent <RelativeOrientation>();
r.enabled = true;
r.trackingType = RelativeOrientation.TrackingType.RotationAndPosition;
r.apply();
r.apply();
r.worldOffsetPostion = desiredPosition - unityViewpoint.transform.position;
Input.gyro.enabled = false;
}
}
/// <summary>
/// Controller for AugmentedImage example.
/// </summary>
/// <summary>
/// A prefab for visualizing an AugmentedImage.
/// </summary>
/// <summary>
/// The Unity Update method.
/// </summary>
public void Update()
{
// Check that motion tracking is tracking.
if (Session.Status != SessionStatus.Tracking)
{
isTracking = true;
return;
}
else
{
isTracking = false;
}
// Get updated augmented images for this frame.
Session.GetTrackables <AugmentedImage>(m_TempAugmentedImages, TrackableQueryFilter.Updated);
// Create visualizers and anchors for updated augmented images that are tracking and do not previously
// have a visualizer. Remove visualizers for stopped images.
foreach (var image in m_TempAugmentedImages)
{
int status = 0;
imTrackStatus.TryGetValue(image.DatabaseIndex, out status);
if (image.TrackingState == TrackingState.Tracking && status == 0)
{
// Create an anchor to ensure that ARCore keeps tracking this augmented image.
// TODO: Is this anchor automatically removed when no longer in use?
anchor = image.CreateAnchor(image.CenterPose);
//Find associated Markerobject in Gameworld
foreach (scrMarker marker in FindObjectsOfType <scrMarker>())
{
if (marker.augmentedImageDbIndex == image.DatabaseIndex)
{
RelativeOrientation r = gameObject.GetComponent <RelativeOrientation>();
r.AnchorSource = anchor.gameObject;
r.AnchorTarget = marker.gameObject;
if (controller.gameObject.GetComponent <RouteProgressController>().route.Length == 0)
{
controller.setMenuPreset(1);
}
GetComponent <RelativeOrientation>().worldOffsetPostion = Vector3.zero;
FindObjectOfType <messageController>().message("Marker gescannt.", 3.7f, "markerScanned");
break;
}
}
imTrackStatus.Add(image.DatabaseIndex, 1);
}
else
{
if (image.TrackingState == TrackingState.Tracking)
{
foreach (scrMarker marker in FindObjectsOfType <scrMarker>())
{
if (marker.augmentedImageDbIndex == image.DatabaseIndex)
{
RelativeOrientation r = gameObject.GetComponent <RelativeOrientation>();
r.AnchorSource = anchor.gameObject;
r.AnchorTarget = marker.gameObject;
if (controller.gameObject.GetComponent <RouteProgressController>().route.Length == 0)
{
controller.setMenuPreset(1);
}
GetComponent <RelativeOrientation>().worldOffsetPostion = Vector3.zero;
FindObjectOfType <messageController>().message("Marker gescannt.", 3.7f, "markerScanned");
break;
}
}
}
else if (image.TrackingState == TrackingState.Stopped && status != 0)
{
imTrackStatus.Remove(image.DatabaseIndex);
}
}
}
}
/// <summary>
/// Sets the specified linear motor axis using a specific relative orientation mode.
/// </summary>
/// <param name="index">The index of the linear motor axis to set.</param>
/// <param name="relativeMode">The relative orientation mode of the specified axis.</param>
/// <param name="ax">The x-component of the linear motor axis.</param>
/// <param name="ay">The y-component of the linear motor axis.</param>
/// <param name="az">The z-component of the linear motor axis.</param>
public void SetAxis(int index, RelativeOrientation relativeMode, dReal ax, dReal ay, dReal az)
{
NativeMethods.dJointSetLMotorAxis(id, index, relativeMode, ax, ay, az);
}
/// <summary>
/// Sets the specified linear motor axis using a specific relative orientation mode.
/// </summary>
/// <param name="index">The index of the linear motor axis to set.</param>
/// <param name="relativeMode">The relative orientation mode of the specified axis.</param>
/// <param name="axis">The linear motor axis.</param>
public void SetAxis(int index, RelativeOrientation relativeMode, Vector3 axis)
{
NativeMethods.dJointSetLMotorAxis(id, index, relativeMode, axis.X, axis.Y, axis.Z);
}
