void CalculateBoundingRectangle(ILandmarkController landmark)
{
var polygonOutput = landmark.output as LandmarkOutputPolygon;
if (polygonOutput != null)
{
if (m_LocalVerts.Count > 3)
{
GeometryUtils.OrientedMinimumBoundingBox2D(m_LocalVerts, k_RectOutputVerts);
var rectCenter = Vector3.zero;
polygonOutput.localVertices.Clear();
for (int i = 0; i < k_RectOutputVerts.Length; i++)
{
rectCenter += k_RectOutputVerts[i];
}
rectCenter /= k_RectOutputVerts.Length;
for (int i = k_RectOutputVerts.Length - 1; i >= 0; i--)
{
// Add in reverse order because we want vertices in clockwise order to match plane vertex order
polygonOutput.localVertices.Add(k_RectOutputVerts[i] - rectCenter);
}
rectCenter = pose.ApplyOffsetTo(rectCenter);
polygonOutput.SetPolygonLocalSpace(polygonOutput.localVertices, new Pose(rectCenter, pose.rotation));
}
}
}
public void SetupLandmark(ILandmarkController landmark)
{
// Use MARS session camera as the default target for "closest" landmark
if (landmark.landmarkDefinition.GetEnumName <BasicPolygonLandmarks>() == BasicPolygonLandmarks.Closest)
{
var settings = landmark.settings as ClosestLandmarkSettings;
if (settings != null)
{
if (settings.target != null)
{
return;
}
var sessionCamera = MarsRuntimeUtils.GetSessionAssociatedCamera();
if (sessionCamera != null)
{
settings.target = sessionCamera.transform;
}
}
else
{
Debug.LogError("Closest landmark is missing valid settings component", gameObject);
}
}
}
void UpdateFaceLandmark(ILandmarkController landmark, MRFaceLandmark landmarkType)
{
// TODO: Investigate why we get calls to OnMatchLoss continuously after tracking loss
if (m_AssignedFace == null)
{
return;
}
if (m_FallbackLandmarkPoses == null)
{
m_FallbackLandmarkPoses = MARSFallbackFaceLandmarks.instance.GetFallbackFaceLandmarkPoses();
}
Pose pose;
if (m_AssignedFaceLandmarkPoses == null || !m_AssignedFaceLandmarkPoses.TryGetValue(landmarkType, out pose))
{
pose = m_AssignedFace.pose.ApplyOffsetTo(m_FallbackLandmarkPoses[landmarkType]);
}
var landmarkPose = landmark.output as LandmarkOutputPose;
if (landmarkPose != null)
{
landmarkPose.currentPose = this.ApplyOffsetToPose(pose);
}
}
void CalculateBoundingRectFromExtents(ILandmarkController landmark)
{
if (!m_MRPlane.HasValue)
{
return;
}
var polygon = landmark.output as LandmarkOutputPolygon;
if (polygon != null)
{
polygon.SetPolygonLocalSpace(m_BoundingRect, m_BoundingRectPose);
}
}
void CalculateCentroidLandmark(ILandmarkController landmark)
{
if (m_LocalVerts.Count < 1)
{
return;
}
var landmarkPoint = landmark.output as LandmarkOutputPoint;
if (landmarkPoint != null)
{
landmarkPoint.position = pose.ApplyOffsetTo(GeometryUtils.PolygonCentroid2D(m_LocalVerts));
}
}
void CalculateCenter(ILandmarkController landmark)
{
if (!m_MRPlane.HasValue)
{
return;
}
var point = landmark.output as LandmarkOutputPoint;
if (point != null)
{
var realWorldCenter = m_MRPlane.Value.pose.ApplyOffsetTo(m_MRPlane.Value.center);
point.position = this.ApplyOffsetToPosition(realWorldCenter);
}
}
public void SetupLandmark(ILandmarkController landmark)
{
var faceLandmark = landmark.landmarkDefinition.GetEnumName <MRFaceLandmark>();
if (m_FallbackLandmarkPoses == null)
{
m_FallbackLandmarkPoses = MARSFallbackFaceLandmarks.instance.GetFallbackFaceLandmarkPoses();
}
var initialPose = m_FallbackLandmarkPoses[faceLandmark];
initialPose.position *= MARSSession.GetWorldScale();
var landmarkTransform = ((Component)(landmark)).transform;
landmarkTransform.SetLocalPose(initialPose);
var landmarkPose = landmark.output as LandmarkOutputPose;
if (landmarkPose != null)
{
landmarkPose.currentPose = landmarkTransform.GetWorldPose();
}
}
void CalculateClosestLandmark(ILandmarkController landmark)
{
var settings = landmark.settings as ClosestLandmarkSettings;
if (settings == null)
{
return;
}
if (worldVertices == null || settings.target == null)
{
return;
}
if (m_WorldVerts.Count < 3)
{
return;
}
Vector3 edgeVertA;
Vector3 edgeVertB;
switch (landmark.output)
{
case LandmarkOutputPoint landmarkPoint:
{
var targetPolygon = settings.target as LandmarkOutputPolygon;
if (targetPolygon && targetPolygon.worldVertices.Count > 0)
{
Vector3 closestOnThis, closestOnOther;
GeometryUtils.ClosestPolygonApproach(m_WorldVerts, targetPolygon.worldVertices, out closestOnThis, out closestOnOther);
landmarkPoint.position = closestOnThis;
}
else
{
var targetPosition = settings.target.transform.position;
var planeNormal = Vector3.Cross(m_WorldVerts[0] - m_WorldVerts[1], m_WorldVerts[2] - m_WorldVerts[1]).normalized;
var pointOnInfinitePlane = GeometryUtils.ProjectPointOnPlane(planeNormal, m_WorldVerts[1], targetPosition);
if (GeometryUtils.PointInPolygon3D(pointOnInfinitePlane, m_WorldVerts))
{
landmarkPoint.position = pointOnInfinitePlane;
}
else
{
GeometryUtils.FindClosestEdge(m_WorldVerts, targetPosition, out edgeVertA, out edgeVertB);
landmarkPoint.position = GeometryUtils.ClosestPointOnLineSegment(targetPosition, edgeVertA, edgeVertB);
}
}
}
break;
case LandmarkOutputEdge landmarkEdge:
{
var targetPosition = settings.target.transform.position;
GeometryUtils.FindClosestEdge(m_WorldVerts, targetPosition, out edgeVertA, out edgeVertB);
landmarkEdge.startPoint = edgeVertA;
landmarkEdge.endPoint = edgeVertB;
}
break;
case LandmarkOutputPose landmarkPose:
{
var targetPolygon = settings.target as LandmarkOutputPolygon;
Vector3 closestOnThis, closestOnOther;
if (targetPolygon && targetPolygon.worldVertices.Count > 0)
{
GeometryUtils.ClosestPolygonApproach(m_WorldVerts, targetPolygon.worldVertices, out closestOnThis, out closestOnOther);
}
else
{
closestOnOther = settings.target.transform.position;
var planeNormal = Vector3.Cross(m_WorldVerts[0] - m_WorldVerts[1], m_WorldVerts[2] - m_WorldVerts[1]).normalized;
var pointOnInfinitePlane = GeometryUtils.ProjectPointOnPlane(planeNormal, m_WorldVerts[1], closestOnOther);
if (GeometryUtils.PointInPolygon3D(pointOnInfinitePlane, m_WorldVerts))
{
closestOnThis = pointOnInfinitePlane;
}
else
{
GeometryUtils.FindClosestEdge(m_WorldVerts, closestOnOther, out edgeVertA, out edgeVertB);
closestOnThis = GeometryUtils.ClosestPointOnLineSegment(closestOnOther, edgeVertA, edgeVertB);
}
}
// Make sure look direction is flattened along the plane
var lookDirection = closestOnOther - closestOnThis;
lookDirection = Vector3.Cross(Vector3.Cross(lookDirection, transform.up), transform.up);
landmarkPose.currentPose = new Pose {
position = closestOnThis, rotation = Quaternion.LookRotation(lookDirection)
};
}
break;
}
}
