// Update is called once per frame
void LateUpdate()
{
frameCount++;
#if UNITY_EDITOR
if (Input.GetKeyDown(KeyCode.C))
{
occupancyManager.Clear();
}
if ((frameCount % 6) == 0)
{
float start = Time.realtimeSinceStartup;
for (int i = 0; i < insertionCount; i++)
{
int x = UnityEngine.Random.Range(0, Screen.width);
int y = UnityEngine.Random.Range(0, Screen.height);
Ray ray = mainCamera.ScreenPointToRay(new Vector3(x, y, 0));
if (Physics.Raycast(ray, out hitInfo, 4, virutalRoomLayer))
{
occupancyManager.InsertPoint(hitInfo.point, ray.direction, 1.0f / (hitInfo.distance + 1));
}
}
occupancyManager.QueueDirtyMeshesForRegeneration();
float stop = Time.realtimeSinceStartup;
occupancyManager.InsertionTime = occupancyManager.InsertionTime * occupancyManager.Smoothing + (1.0f - occupancyManager.Smoothing) * (stop - start);
}
#endif
}
/// <summary>
/// Generate synthetic test point cloud data for performance and debugging.
/// </summary>
public void GenerateTestData()
{
Debug.Log("Generating Test Data");
Vector3 obs = new Vector3(0, -1, 0);
float range = 6.0f;
float step = 0.025f;
for (float x = -range; x < range; x += step)
{
for (float z = -range; z < range; z += step)
{
float y = 0.5f * Mathf.Sin(2 * Mathf.Sqrt((x * x) + (z * z)));
m_meshManager.InsertPoint(new Vector3(x, y, z + range), obs, 1.0f);
}
}
m_meshManager.QueueDirtyMeshesForRegeneration();
}
/// <summary>
/// Update is called once per frame.
/// </summary>
private void LateUpdate()
{
if (Input.GetKeyDown(KeyCode.P))
{
m_pause = !m_pause;
}
if (Input.GetKeyDown(KeyCode.Slash))
{
m_step = true;
}
//history
for (int i = 0; i < m_positionHistory.Count - 1; i++)
{
Debug.DrawLine(m_positionHistory[i], m_positionHistory[i + 1], Color.gray);
}
if (m_pause && !m_step)
{
DrawDebugLines();
return;
}
m_step = false;
if (m_playbackData)
{
ReadPoseFromFile(m_fileReader, ref m_poseAtDepthTimestamp);
ReadDepthFromFile(m_fileReader, ref m_currTangoDepth, ref m_depthPoints);
m_isDirty = true;
}
if (m_isDirty)
{
if (m_recordData)
{
WritePoseToFile(m_fileWriter, m_poseAtDepthTimestamp);
WriteDepthToFile(m_fileWriter, m_currTangoDepth, m_depthPoints);
m_debugText = "Recording Session: " + m_sessionTimestamp + " Points: " + m_currTangoDepth.m_timestamp;
}
ClearQuads();
SetTransformUsingPose(transform, m_poseAtDepthTimestamp);
if (m_playbackData)
{
m_mainCamera.transform.position = transform.position;
m_mainCamera.transform.rotation = transform.rotation;
}
m_positionHistory.Add(transform.position);
DrawDebugLines();
float start = Time.realtimeSinceStartup;
for (int i = 0; i < m_insertionCount; i++)
{
if (i > m_currTangoDepth.m_pointCount)
{
break;
}
//randomly sub sample
int index = i;
//need to be more graceful than this, does not behave continuously
if (m_insertionCount < m_currTangoDepth.m_pointCount)
{
;
}
index = UnityEngine.Random.Range(0, m_currTangoDepth.m_pointCount);
Vector3 p = new Vector3(m_depthPoints[3 * index], -m_depthPoints[3 * index + 1], m_depthPoints[3 * index + 2]);
Vector3 tp = transform.TransformPoint(p);
float mag = Vector3.Magnitude(p);
//less weight for things farther away, because of noise
if (m_recordData)
{
CreateQuad(p);
}
else
{
m_occupancyManager.InsertPoint(tp, transform.forward, 0.2f / (mag + 1.0f));
}
}
float stop = Time.realtimeSinceStartup;
m_occupancyManager.InsertionTime = m_occupancyManager.InsertionTime * m_occupancyManager.Smoothing + (1.0f - m_occupancyManager.Smoothing) * (stop - start);
m_occupancyManager.QueueDirtyMeshesForRegeneration();
m_isDirty = false;
}
}