/// <summary>
/// Applies the pose received from a CloudSLAM server to unity
/// a given Unity transform. The pose will be transformed from
/// CloudSLAM's coordinate system to Unity's coordinate system.
/// </summary>
/// <param name="cloudSLAMPoseMatrix4x4">The pose as received from
/// a CloudSLAM server (i.e. an array of 16 floats that make
/// up a 4x4 TRS matrix).</param>
/// <param name="t">The transform to which the pose should be applied.</param>
public static void ApplyPoseToUnityTransform(float[] cloudSLAMPoseMatrix4x4, Transform t)
{
CloudSLAMCoordiantes.CloudSLAMPoseToUnityPose(cloudSLAMPoseMatrix4x4, ref poseMatrix);
t.position = poseMatrix.MultiplyPoint3x4(Vector3.zero);
t.LookAt(poseMatrix.MultiplyPoint3x4(CloudSLAMCoordiantes.Forward), poseMatrix.MultiplyVector(CloudSLAMCoordiantes.Up));
}
public IEnumerator LoadMap(string serverAddress)
{
UnityWebRequest www = BuildGetMapRequest(serverAddress);
yield return(www.SendWebRequest());
if (www.isNetworkError || www.isHttpError)
{
Debug.Log(www.error);
}
else
{
Debug.Log(www.downloadHandler.text);
storage = JsonConvert.DeserializeObject <MapStorage>(www.downloadHandler.text);
if (storage != null)
{
var scaleV = new Vector3(MapPointScale, MapPointScale, MapPointScale);
mapPoints = storage.mapPoints.Values
.Select(p => Matrix4x4.TRS(CloudSLAMCoordiantes.CloudSlamPositionToUnity(p[0], p[1], p[2]), Quaternion.identity, scaleV))
.ToArray();
for (int i = 0; i < Mathf.Ceil(mapPoints.Count() / 1000); ++i)
{
mapPointBatches.Add(mapPoints.Skip(i * 1000).Take(1000).ToArray());
}
}
}
}
void Update()
{
if (!poseBufferHandle.Equals(IntPtr.Zero))
{
Marshal.Copy(poseBufferHandle, poseBuffer, 0, 16);
CloudSLAMCoordiantes.ApplyPoseToUnityTransform(poseBuffer, unityCamera.transform);
}
}
protected void PlaceInScene(PointOfInterest poi, GameObject parent)
{
var actor = CreateActor(poi);
if (actor == null)
{
return;
}
if (parent != null)
{
actor.transform.SetParent(parent.transform);
}
actor.GetComponentsInChildren <Renderer>().ToList().ForEach(r => r.receiveShadows = false);
CloudSLAMCoordiantes.ApplyPoseToUnityTransform(poi.Position, poi.Rotation, poi.LocalScale, actor.transform);
}
