public string BoundingBoxInfo(ObjectAnchorsBoundingBox boundingBox)
{
return
($"Center: {boundingBox.Center}\n" +
$"Extents: {boundingBox.Extents}\n" +
$"Orientation: {boundingBox.Orientation}");
}
/// <summary>
/// creates queries around the user for all known models
/// </summary>
private void RefillGlobalQueryQueue()
{
Debug.Log("Prepping queries");
// Then do a global query for any new objects
ObjectAnchorsBoundingBox globalBoundingBox = new ObjectAnchorsBoundingBox();
globalBoundingBox.Center = _mainCamera.transform.position;
globalBoundingBox.Extents = Vector3.one * 5;
globalBoundingBox.Orientation = _mainCamera.transform.rotation;
QueueQueriesInBounds(globalBoundingBox);
}
/// <summary>
/// Queues queries for all known models around the requested bounds
/// </summary>
/// <param name="queryBounds"></param>
public void QueueQueriesInBounds(ObjectAnchorsBoundingBox queryBounds)
{
List <ObjectQuery> nextQuerySet = new List <ObjectQuery>();
SpatialGraph.SpatialGraphCoordinateSystem?coordinateSystem = ObjectAnchorsWorldManager.GlobalCoordinateSystem;
if (!coordinateSystem.HasValue)
{
Debug.LogError("no coordinate system?");
return;
}
foreach (TrackableObjectData tod in _trackableObjectDataLoader.TrackableObjects)
{
ObjectQuery nextQuery = _objectAnchorsService.CreateObjectQuery(tod.ModelId);
nextQuery.MaxScaleChange = MaxScaleChange;
if (tod.UseCustomParameters)
{
nextQuery.MinSurfaceCoverage = tod.MinSurfaceCoverage;
nextQuery.IsExpectedToBeStandingOnGroundPlane = tod.IsExpectedToBeStandingOnGroundPlane;
nextQuery.ExpectedMaxVerticalOrientationInDegrees = tod.ExpectedMaxVerticalOrientationInDegrees;
nextQuery.MaxScaleChange = tod.MaxScaleChange;
}
else
{
nextQuery.MinSurfaceCoverage *= CoverageThresholdFactor;
nextQuery.ExpectedMaxVerticalOrientationInDegrees = AllowedVerticalOrientationInDegrees;
}
nextQuery.SearchAreas.Add(ObjectSearchArea.FromOrientedBox(
coordinateSystem.Value,
queryBounds.ToOuSdk())
);
nextQuerySet.Add(nextQuery);
}
_queryQueue.Enqueue(new Tuple <ObjectAnchorsBoundingBox, IEnumerable <ObjectQuery> >(queryBounds, nextQuerySet));
Debug.Log($"{Time.frameCount} next query size {nextQuerySet.Count} query queue size {_queryQueue.Count} max scale change {MaxScaleChange} AllowedVerticalOrientationInDegrees {AllowedVerticalOrientationInDegrees}");
}
private Task DetectObjectAsync(Microsoft.Azure.ObjectAnchors.SpatialGraph.SpatialGraphCoordinateSystem?coordinateSystem, ObjectAnchorsLocation cameraLocation)
{
//
// Coordinate system may not be available at this time, try it later.
//
if (!coordinateSystem.HasValue)
{
return(Task.CompletedTask);
}
//
// Get camera location and coordinate system.
//
var cameraForward = cameraLocation.Orientation * Vector3.forward;
var estimatedTargetLocation = new ObjectAnchorsLocation
{
Position = cameraLocation.Position + cameraForward * SearchFrustumFarDistance * 0.5f,
Orientation = Quaternion.Euler(0.0f, cameraLocation.Orientation.eulerAngles.y, 0.0f),
};
//
// Remove detected objects far away from the camera.
//
foreach (var instance in _objectAnchorsService.TrackingResults)
{
var location = instance.Location;
if (location.HasValue)
{
var modelBbox = _objectAnchorsService.GetModelBoundingBox(instance.ModelId);
Debug.Assert(modelBbox.HasValue);
// Compute the coordinate of instance bounding box center in Unity world.
var instancePosition = location.Value.Position + location.Value.Orientation * modelBbox.Value.Center;
var offset = instancePosition - cameraLocation.Position;
if (offset.magnitude > SearchFrustumFarDistance * 1.5f)
{
_objectAnchorsService.RemoveObjectInstance(instance.InstanceId);
}
}
}
//
// Detect object(s) in field of view, bounding box, or sphere.
//
var objectQueries = new List <Microsoft.Azure.ObjectAnchors.ObjectQuery>();
var trackingResults = _objectAnchorsService.TrackingResults;
lock (_objectQueries)
foreach (var objectQuery in _objectQueries)
{
var modelId = objectQuery.Key;
var query = objectQuery.Value.Query;
//
// Optionally skip a model detection if an instance is already found.
//
if (SearchSingleInstance)
{
if (trackingResults.Where(r => r.ModelId == modelId).Count() > 0)
{
continue;
}
}
var modelBox = _objectAnchorsService.GetModelBoundingBox(modelId);
Debug.Assert(modelBox.HasValue);
query.SearchAreas.Clear();
switch (SearchAreaShape)
{
case SearchAreaKind.Box:
{
// Adapt bounding box size to model size. Note that Extents.z is model's height.
float modelXYSize = new Vector2(modelBox.Value.Extents.x, modelBox.Value.Extents.y).magnitude;
var boundingBox = new ObjectAnchorsBoundingBox
{
Center = estimatedTargetLocation.Position,
Orientation = estimatedTargetLocation.Orientation,
Extents = new Vector3(modelXYSize * SearchAreaScaleFactor, modelBox.Value.Extents.z * SearchAreaScaleFactor, modelXYSize * SearchAreaScaleFactor),
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromOrientedBox(
coordinateSystem.Value,
boundingBox.ToSpatialGraph()));
break;
}
case SearchAreaKind.FieldOfView:
{
var fieldOfView = new ObjectAnchorsFieldOfView
{
Position = cameraLocation.Position,
Orientation = cameraLocation.Orientation,
FarDistance = SearchFrustumFarDistance,
HorizontalFieldOfViewInDegrees = SearchFrustumHorizontalFovInDegrees,
AspectRatio = SearchFrustumAspectRatio,
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromFieldOfView(
coordinateSystem.Value,
fieldOfView.ToSpatialGraph()));
break;
}
case SearchAreaKind.Sphere:
{
// Adapt sphere radius to model size.
float modelDiagonalSize = modelBox.Value.Extents.magnitude;
var sphere = new ObjectAnchorsSphere
{
Center = estimatedTargetLocation.Position,
Radius = modelDiagonalSize * 0.5f * SearchAreaScaleFactor,
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromSphere(
coordinateSystem.Value,
sphere.ToSpatialGraph()));
break;
}
}
objectQueries.Add(query);
}
//
// Pause a while if detection is not required.
//
if (objectQueries.Count == 0)
{
Thread.Sleep(100);
return(Task.CompletedTask);
}
//
// Run detection.
//
// Add event to the queue.
_objectAnchorsEventQueue.Enqueue(
new ObjectAnchorsServiceEvent
{
Kind = ObjectAnchorsServiceEventKind.DetectionAttempted,
Args = null
});
return(_objectAnchorsService.DetectObjectAsync(objectQueries.ToArray()));
}