/// <summary>
/// Save the tango dynamic mesh.
///
/// Process the mesh in 3 steps.
/// 1. Extract the whole mesh from tango 3D Reconstruction.
/// 2. Convert to a serializable format.
/// 3. Serialize with XML on to the SD card.
/// </summary>
/// <returns>The coroutine IEnumerator.</returns>
private IEnumerator _DoSaveTangoDynamicMesh()
{
m_savingText.gameObject.SetActive(true);
m_savingText.text = "Extracting Whole Mesh...";
// Each list is filled out with values from extracting the whole mesh.
List <Vector3> vertices = new List <Vector3>();
List <int> triangles = new List <int>();
Tango3DReconstruction.Status status = m_tangoApplication.Tango3DRExtractWholeMesh(vertices, null, null, triangles);
if (status != Tango3DReconstruction.Status.SUCCESS)
{
Debug.Log("Tango3DRExtractWholeMesh failed, status code = " + status);
yield break;
}
Debug.Log("Tango3DRExtractWholeMesh finished");
Mesh extractedMesh = new Mesh();
extractedMesh.vertices = vertices.ToArray();
extractedMesh.triangles = triangles.ToArray();
// Save the generated unity mesh.
m_savingText.text = "Saving Area Description Mesh...";
AreaDescriptionMesh mesh = _UnityMeshToAreaDescriptionMesh(m_savedUUID, extractedMesh);
_SerializeAreaDescriptionMesh(mesh);
// Restart scene after completion.
#pragma warning disable 618
Application.LoadLevel(Application.loadedLevel);
#pragma warning restore 618
}
/// <summary>
/// Save the tango dynamic mesh.
///
/// Process the mesh in 3 steps.
/// 1. Extract the whole mesh from tango 3D Reconstruction.
/// 2. Convert to a serializable format.
/// 3. Serialize with XML on to the SD card.
/// </summary>
/// <returns>The coroutine IEnumerator.</returns>
private IEnumerator _DoSaveTangoDynamicMesh()
{
m_savingText.gameObject.SetActive(true);
m_savingText.text = "Extracting Whole Mesh...";
Tango3DReconstruction.Status status = Tango3DReconstruction.Status.INVALID;
bool needsToGrow = false;
float growthFactor = 1.5f;
// Each list is filled out with values from extracting the whole mesh.
Vector3[] vertices = new Vector3[100];
int[] triangles = new int[99];
while (status != Tango3DReconstruction.Status.SUCCESS)
{
yield return(null);
// Last frame the mesh needed more space. Give it more room now.
if (needsToGrow)
{
int newVertexSize = (int)(vertices.Length * growthFactor);
int newTriangleSize = (int)(triangles.Length * growthFactor);
newTriangleSize -= newTriangleSize % 3;
vertices = new Vector3[newVertexSize];
triangles = new int[newTriangleSize];
needsToGrow = false;
}
int numVertices;
int numTriangles;
status = m_tangoApplication.Tango3DRExtractWholeMesh(vertices, null, null, triangles, out numVertices, out numTriangles);
if (status != Tango3DReconstruction.Status.INSUFFICIENT_SPACE &&
status != Tango3DReconstruction.Status.SUCCESS)
{
Debug.Log("Tango3DRExtractWholeMesh failed, status code = " + status);
break;
}
else if (status == Tango3DReconstruction.Status.INSUFFICIENT_SPACE)
{
// After exceeding allocated space for vertices and triangles, continue extraction next frame.
Debug.Log(string.Format("Tango3DRExtractWholeMesh ran out of space with room for {0} vertexes, {1} indexes.", vertices.Length, triangles.Length));
needsToGrow = true;
}
// Make any leftover triangles degenerate.
for (int triangleIt = numTriangles * 3; triangleIt < triangles.Length; ++triangleIt)
{
triangles[triangleIt] = 0;
}
}
Debug.Log("Tango3DRExtractWholeMesh finished");
Mesh extractedMesh = new Mesh();
extractedMesh.vertices = vertices;
extractedMesh.triangles = triangles;
// Save the generated unity mesh.
m_savingText.text = "Saving Area Description Mesh...";
AreaDescriptionMesh mesh = _UnityMeshToAreaDescriptionMesh(m_savedUUID, extractedMesh);
_SerializeAreaDescriptionMesh(mesh);
// Restart scene after completion.
#pragma warning disable 618
Application.LoadLevel(Application.loadedLevel);
#pragma warning restore 618
}
/// <summary>
/// Unity Update callback.
/// </summary>
public void Update()
{
List <Tango3DReconstruction.GridIndex> needsResize = new List <Tango3DReconstruction.GridIndex>();
int it;
int startTimeMS = (int)(Time.realtimeSinceStartup * 1000);
for (it = 0; it < m_gridIndexToUpdate.Count; ++it)
{
Tango3DReconstruction.GridIndex gridIndex = m_gridIndexToUpdate[it];
if ((Time.realtimeSinceStartup * 1000) - startTimeMS > TIME_BUDGET_MS)
{
Debug.Log(string.Format(
"TangoDynamicMesh.Update() ran over budget with {0}/{1} grid indexes processed.",
it, m_gridIndexToUpdate.Count));
break;
}
TangoSingleDynamicMesh dynamicMesh;
if (!m_meshes.TryGetValue(gridIndex, out dynamicMesh))
{
// build a dynamic mesh as a child of this game object.
GameObject newObj = new GameObject();
newObj.transform.parent = transform;
newObj.name = string.Format("{0},{1},{2}", gridIndex.x, gridIndex.y, gridIndex.z);
dynamicMesh = newObj.AddComponent <TangoSingleDynamicMesh>();
dynamicMesh.m_vertices = new Vector3[INITIAL_VERTEX_COUNT];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[INITIAL_VERTEX_COUNT];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[INITIAL_VERTEX_COUNT];
}
dynamicMesh.m_triangles = new int[INITIAL_INDEX_COUNT];
// Update debug info too.
m_debugTotalVertices = dynamicMesh.m_vertices.Length;
m_debugTotalTriangles = dynamicMesh.m_triangles.Length;
// Add the other necessary objects
MeshFilter meshFilter = newObj.AddComponent <MeshFilter>();
dynamicMesh.m_mesh = meshFilter.mesh;
if (m_meshRenderer != null)
{
MeshRenderer meshRenderer = newObj.AddComponent <MeshRenderer>();
#if UNITY_5
meshRenderer.shadowCastingMode = m_meshRenderer.shadowCastingMode;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.reflectionProbeUsage = m_meshRenderer.reflectionProbeUsage;
meshRenderer.probeAnchor = m_meshRenderer.probeAnchor;
#elif UNITY_4_6
meshRenderer.castShadows = m_meshRenderer.castShadows;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.lightProbeAnchor = m_meshRenderer.lightProbeAnchor;
#endif
}
if (m_meshCollider != null)
{
MeshCollider meshCollider = newObj.AddComponent <MeshCollider>();
meshCollider.convex = m_meshCollider.convex;
meshCollider.isTrigger = m_meshCollider.isTrigger;
meshCollider.sharedMaterial = m_meshCollider.sharedMaterial;
meshCollider.sharedMesh = dynamicMesh.m_mesh;
dynamicMesh.m_meshCollider = meshCollider;
}
m_meshes.Add(gridIndex, dynamicMesh);
}
// Last frame the mesh needed more space. Give it more room now.
if (dynamicMesh.m_needsToGrow)
{
int newVertexSize = (int)(dynamicMesh.m_vertices.Length * GROWTH_FACTOR);
int newTriangleSize = (int)(dynamicMesh.m_triangles.Length * GROWTH_FACTOR);
newTriangleSize -= newTriangleSize % 3;
// Remove the old size, add the new size.
m_debugTotalVertices += newVertexSize - dynamicMesh.m_vertices.Length;
m_debugTotalTriangles += newTriangleSize - dynamicMesh.m_triangles.Length;
dynamicMesh.m_vertices = new Vector3[newVertexSize];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[newVertexSize];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[newVertexSize];
}
dynamicMesh.m_triangles = new int[newTriangleSize];
dynamicMesh.m_needsToGrow = false;
}
int numVertices;
int numTriangles;
Tango3DReconstruction.Status status = m_tangoApplication.Tango3DRExtractMeshSegment(
gridIndex, dynamicMesh.m_vertices, null, dynamicMesh.m_colors, dynamicMesh.m_triangles,
out numVertices, out numTriangles);
if (status != Tango3DReconstruction.Status.INSUFFICIENT_SPACE &&
status != Tango3DReconstruction.Status.SUCCESS)
{
Debug.Log("Tango3DR extraction failed, status code = " + status + Environment.StackTrace);
continue;
}
else if (status == Tango3DReconstruction.Status.INSUFFICIENT_SPACE)
{
// We already spent the time extracting this mesh, let's not spend any more time this frame
// to extract the mesh.
Debug.Log(string.Format(
"TangoDynamicMesh.Update() extraction ran out of space with room for {0} vertexes, {1} indexes.",
dynamicMesh.m_vertices.Length, dynamicMesh.m_triangles.Length));
dynamicMesh.m_needsToGrow = true;
needsResize.Add(gridIndex);
}
// Make any leftover triangles degenerate.
for (int triangleIt = numTriangles * 3; triangleIt < dynamicMesh.m_triangles.Length; ++triangleIt)
{
dynamicMesh.m_triangles[triangleIt] = 0;
}
if (dynamicMesh.m_uv != null)
{
// Add texture coordinates.
for (int vertexIt = 0; vertexIt < numVertices; ++vertexIt)
{
Vector3 vertex = dynamicMesh.m_vertices[vertexIt];
dynamicMesh.m_uv[vertexIt].x = vertex.x * UV_PER_METERS;
dynamicMesh.m_uv[vertexIt].y = (vertex.z + vertex.y) * UV_PER_METERS;
}
}
dynamicMesh.m_mesh.Clear();
dynamicMesh.m_mesh.vertices = dynamicMesh.m_vertices;
dynamicMesh.m_mesh.uv = dynamicMesh.m_uv;
dynamicMesh.m_mesh.colors32 = dynamicMesh.m_colors;
dynamicMesh.m_mesh.triangles = dynamicMesh.m_triangles;
if (m_tangoApplication.m_3drGenerateNormal)
{
dynamicMesh.m_mesh.RecalculateNormals();
}
if (dynamicMesh.m_meshCollider != null)
{
// Force the mesh collider to update too.
dynamicMesh.m_meshCollider.sharedMesh = null;
dynamicMesh.m_meshCollider.sharedMesh = dynamicMesh.m_mesh;
}
}
m_debugRemeshingTime = Time.realtimeSinceStartup - (startTimeMS * 0.001f);
m_debugRemeshingCount = it;
// Any leftover grid indices also need to get processed next frame.
while (it < m_gridIndexToUpdate.Count)
{
needsResize.Add(m_gridIndexToUpdate[it]);
++it;
}
m_gridIndexToUpdate = needsResize;
}
/// <summary>
/// Extract and update (or create, if it doesn't exist) the mesh at the given grid index.
/// </summary>
/// <param name="gridIndex">Grid index.</param>
/// <param name="needsResize">List to which indices needing a future resize will be added.</param>
private void _UpdateMeshAtGridIndex(Tango3DReconstruction.GridIndex gridIndex, List <Tango3DReconstruction.GridIndex> needsResize)
{
TangoSingleDynamicMesh dynamicMesh;
if (!m_meshes.TryGetValue(gridIndex, out dynamicMesh))
{
// build a dynamic mesh as a child of this game object.
GameObject newObj = new GameObject();
newObj.transform.parent = transform;
newObj.name = string.Format("{0},{1},{2}", gridIndex.x, gridIndex.y, gridIndex.z);
newObj.layer = gameObject.layer;
dynamicMesh = newObj.AddComponent <TangoSingleDynamicMesh>();
dynamicMesh.m_vertices = new Vector3[INITIAL_VERTEX_COUNT];
dynamicMesh.boxes = new GameObject[INITIAL_VERTEX_COUNT];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[INITIAL_VERTEX_COUNT];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[INITIAL_VERTEX_COUNT];
}
dynamicMesh.m_triangles = new int[INITIAL_INDEX_COUNT];
// Update debug info too.
m_debugTotalVertices = dynamicMesh.m_vertices.Length;
m_debugTotalTriangles = dynamicMesh.m_triangles.Length;
// Add the other necessary objects
MeshFilter meshFilter = newObj.AddComponent <MeshFilter>();
dynamicMesh.m_mesh = meshFilter.mesh;
if (m_meshRenderer != null)
{
MeshRenderer meshRenderer = newObj.AddComponent <MeshRenderer>();
#if UNITY_5
meshRenderer.shadowCastingMode = m_meshRenderer.shadowCastingMode;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.reflectionProbeUsage = m_meshRenderer.reflectionProbeUsage;
meshRenderer.probeAnchor = m_meshRenderer.probeAnchor;
#elif UNITY_4_6
meshRenderer.castShadows = m_meshRenderer.castShadows;
meshRenderer.receiveShadows = m_meshRenderer.receiveShadows;
meshRenderer.sharedMaterials = m_meshRenderer.sharedMaterials;
meshRenderer.useLightProbes = m_meshRenderer.useLightProbes;
meshRenderer.lightProbeAnchor = m_meshRenderer.lightProbeAnchor;
#endif
}
if (m_meshCollider != null)
{
MeshCollider meshCollider = newObj.AddComponent <MeshCollider>();
meshCollider.convex = m_meshCollider.convex;
meshCollider.isTrigger = m_meshCollider.isTrigger;
meshCollider.sharedMaterial = m_meshCollider.sharedMaterial;
meshCollider.sharedMesh = dynamicMesh.m_mesh;
dynamicMesh.m_meshCollider = meshCollider;
}
m_meshes.Add(gridIndex, dynamicMesh);
_UpdateBounds(gridIndex);
}
// Skip updating this grid index if it is considered completed.
if (m_enableSelectiveMeshing)
{
if (dynamicMesh.m_completed)
{
return;
}
_ObserveGridIndex(gridIndex, dynamicMesh);
}
// Last frame the mesh needed more space. Give it more room now.
if (dynamicMesh.m_needsToGrow)
{
int newVertexSize = (int)(dynamicMesh.m_vertices.Length * GROWTH_FACTOR);
int newTriangleSize = (int)(dynamicMesh.m_triangles.Length * GROWTH_FACTOR);
newTriangleSize -= newTriangleSize % 3;
// Remove the old size, add the new size.
m_debugTotalVertices += newVertexSize - dynamicMesh.m_vertices.Length;
m_debugTotalTriangles += newTriangleSize - dynamicMesh.m_triangles.Length;
dynamicMesh.m_vertices = new Vector3[newVertexSize];
dynamicMesh.boxes = new GameObject[newVertexSize];
if (m_tangoApplication.m_3drGenerateTexCoord)
{
dynamicMesh.m_uv = new Vector2[newVertexSize];
}
if (m_tangoApplication.m_3drGenerateColor)
{
dynamicMesh.m_colors = new Color32[newVertexSize];
}
dynamicMesh.m_triangles = new int[newTriangleSize];
dynamicMesh.m_needsToGrow = false;
}
int numVertices;
int numTriangles;
Tango3DReconstruction.Status status = m_tangoApplication.Tango3DRExtractMeshSegment(
gridIndex, dynamicMesh.m_vertices, null, dynamicMesh.m_colors, dynamicMesh.m_triangles,
out numVertices, out numTriangles);
if (status != Tango3DReconstruction.Status.INSUFFICIENT_SPACE &&
status != Tango3DReconstruction.Status.SUCCESS)
{
Debug.Log("Tango3DR extraction failed, status code = " + status + Environment.StackTrace);
return;
}
else if (status == Tango3DReconstruction.Status.INSUFFICIENT_SPACE)
{
// We already spent the time extracting this mesh, let's not spend any more time this frame
// to extract the mesh.
Debug.Log(string.Format(
"TangoDynamicMesh.Update() extraction ran out of space with room for {0} vertexes, {1} indexes.",
dynamicMesh.m_vertices.Length, dynamicMesh.m_triangles.Length));
dynamicMesh.m_needsToGrow = true;
needsResize.Add(gridIndex);
}
// Make any leftover triangles degenerate.
for (int triangleIt = numTriangles * 3; triangleIt < dynamicMesh.m_triangles.Length; ++triangleIt)
{
dynamicMesh.m_triangles[triangleIt] = 0;
}
if (dynamicMesh.m_uv != null)
{
// Add texture coordinates.
for (int vertexIt = 0; vertexIt < numVertices; ++vertexIt)
{
Vector3 vertex = dynamicMesh.m_vertices[vertexIt];
dynamicMesh.m_uv[vertexIt].x = vertex.x * UV_PER_METERS;
dynamicMesh.m_uv[vertexIt].y = (vertex.z + vertex.y) * UV_PER_METERS;
}
}
for (int k = 0; k < dynamicMesh.m_vertices.Length; k++)
{
if (dynamicMesh.boxes [k] != null)
{
Destroy(dynamicMesh.boxes [k]);
}
dynamicMesh.boxes [k] = GameObject.CreatePrimitive(PrimitiveType.Cube);
dynamicMesh.boxes [k].transform.position = dynamicMesh.m_vertices [k];
dynamicMesh.boxes [k].transform.localScale = new Vector3(0.02f, 0.02f, 0.02f);
Color ObjectColor = Color.green;
Material materialColored = new Material(Shader.Find("Diffuse"));
materialColored.color = ObjectColor;
dynamicMesh.boxes [k].GetComponent <Renderer> ().material = materialColored;
}
dynamicMesh.m_mesh.Clear();
dynamicMesh.m_mesh.vertices = dynamicMesh.m_vertices;
dynamicMesh.m_mesh.uv = dynamicMesh.m_uv;
dynamicMesh.m_mesh.colors32 = dynamicMesh.m_colors;
dynamicMesh.m_mesh.triangles = dynamicMesh.m_triangles;
if (m_tangoApplication.m_3drGenerateNormal)
{
dynamicMesh.m_mesh.RecalculateNormals();
}
if (dynamicMesh.m_meshCollider != null)
{
// Force the mesh collider to update too.
dynamicMesh.m_meshCollider.sharedMesh = null;
dynamicMesh.m_meshCollider.sharedMesh = dynamicMesh.m_mesh;
}
}
