/// <summary>
/// Unity start.
/// </summary>
public void Start()
{
m_AllVoxels = new GameObject("AllVoxels");
m_Reconstructor = new Reconstructor();
m_Reconstructor.Start();
m_Reconstructor.GetSpatialHashing().SetSubVoxelPrefab(m_SubVoxelPrefab);
m_Mesh = GetComponent <MeshFilter>().mesh;
m_Mesh.Clear();
m_Confidences = new float[k_MaxPointCount];
}
public void Update()
{
UpdateVoxelDistances(Camera.main.transform.position);
if (!m_ActiveReconstruction)
{
return;
}
// Fill in the data to draw the point cloud.
if (Frame.PointCloud.IsUpdatedThisFrame)
{
// Copy the point cloud points for mesh verticies.
NumberOfPoints += Frame.PointCloud.PointCount;
for (int i = 0; i < Frame.PointCloud.PointCount; i++)
{
UnityEngine.Profiling.Profiler.BeginSample("PointCloud");
m_Points[i] = Frame.PointCloud.GetPoint(i);
detected_point = Frame.PointCloud.GetPoint(i);
int hash = m_Reconstructor.GetSpatialHashing().GetHash(detected_point, m_Reconstructor.GetSpatialHashing().GetScale(), m_Reconstructor.GetSpatialHashing().GetHashTableSize());
if (detected_point.w < Constants.CONFIDENCE_THRESHOLD)
{
continue;
}
if (Vector3.Distance(Camera.main.transform.position, detected_point) > m_Reconstructor.GetSpatialHashing().GetMaxReconstructionDistance())
{
continue;
}
if (!m_Reconstructor.GetSpatialHashing().Contains(hash))
{
//Debug.Log("Reconstructor" + ": " + "Point > " + m_Points[i].ToString("G4") + ", NEW Hash: " + hash + ", Size: " + reconstructor.spatialHashing.Size());
Vector3 point = Optimization.ScalePoint(detected_point, m_Reconstructor.GetSpatialHashing().GetScale());
pose.position = point;
pose.rotation = zeroQuaternion;
Anchor anchor = Session.CreateAnchor(pose);
GameObject voxelObject = Instantiate(m_VoxelPrefab, pose.position, pose.rotation);
float voxelSize = 1.00f / m_Reconstructor.GetSpatialHashing().GetScale();
voxelObject.GetComponent <Renderer>().enabled = m_ActiveRenderer;
voxelObject.transform.localScale = new Vector3(voxelSize, voxelSize, voxelSize);
GameObject parentVoxelGameObject = new GameObject("_voxel_" + hash);
GameObject lodContainer = new GameObject("_levelOfDetail_0");
voxelObject.transform.SetParent(lodContainer.transform);
lodContainer.transform.SetParent(anchor.transform);
anchor.transform.SetParent(parentVoxelGameObject.transform);
parentVoxelGameObject.transform.SetParent(m_AllVoxels.transform);
m_TempHashEntry = m_Reconstructor.GetSpatialHashing().CreateHash(detected_point, new Voxel(voxelObject), lodContainer);
m_Reconstructor.GetSpatialHashing().AddToTable(m_TempHashEntry);
}
else
{
m_TempHashEntry = (HashEntry)m_Reconstructor.GetSpatialHashing().GetFromTable(hash);
m_Reconstructor.GetSpatialHashing().AddPointToEntry(detected_point);
}
UnityEngine.Profiling.Profiler.EndSample();
if (DebugText.Instance.UpdateDistances)
{
m_Reconstructor.GetSpatialHashing().UpdateDistanceResolution(m_TempHashEntry);
}
if (!m_ActiveRenderer)
{
GameObject gameObject = GameObject.Find("_voxel_" + hash);
foreach (Renderer r in gameObject.GetComponentsInChildren <Renderer>())
{
r.enabled = false;
}
}
CheckPointCloseToPlanes(m_TempHashEntry);
}
if (m_ActiveRenderer)
{
DrawPointCloud();
}
else
{
m_Mesh.Clear();
}
}
GetCubeInfoOnTouch();
}
