コード例 #1
0
    RecoInfo checkRecoID(string newId)
    {
        RecoInfo rinfo = null;

        if (newId != null)
        {
            foreach (RecoInfo ri in recoList)
            {
                Debug.Log(ri.id);
                Debug.Log(newId);
                if (ri.id.Contains(newId))
                {
                    rinfo = ri;
                }
            }
        }
        return(rinfo);
    }
コード例 #2
0
    public void camLocalize(string jsonanswer, bool geopose)
    {
        var   jsonParse = JSON.Parse(jsonanswer);
        float px, py, pz, ox, oy, oz, ow;
        int   objectsAmount = -1; string js, sessionId;

        if (!geopose)
        {
            if (jsonParse["camera"] != null)
            {
                sessionId = jsonParse["reconstruction_id"];

                do
                {
                    objectsAmount++;
                    js = jsonParse["placeholders"][objectsAmount]["placeholder_id"];
                } while (js != null);

                Debug.Log("nodeAmount =   " + objectsAmount + ", RecoArray Length = " + recoList.Count);

                px = jsonParse["camera"]["pose"]["position"]["x"].AsFloat;
                py = jsonParse["camera"]["pose"]["position"]["y"].AsFloat;
                pz = jsonParse["camera"]["pose"]["position"]["z"].AsFloat;
                ox = jsonParse["camera"]["pose"]["orientation"]["x"].AsFloat;
                oy = jsonParse["camera"]["pose"]["orientation"]["y"].AsFloat;
                oz = jsonParse["camera"]["pose"]["orientation"]["z"].AsFloat;
                ow = jsonParse["camera"]["pose"]["orientation"]["w"].AsFloat;
                uim.setDebugPose(px, py, pz, ox, oy, oz, ow, sessionId);
                GameObject newCam = new GameObject("tempCam");
                newCam.transform.localPosition = new Vector3(px, py, pz);
                newCam.transform.localRotation = new Quaternion(ox, oy, oz, ow);
                newCam.transform.localPosition = new Vector3(px, -newCam.transform.localPosition.y, pz);
                //   Debug.Log("Camera new: " + newCam.transform.localPosition.x + ", " + newCam.transform.localPosition.y + ", " + newCam.transform.localPosition.z);
                newCam.transform.localRotation = Quaternion.Euler(-newCam.transform.localRotation.eulerAngles.x, newCam.transform.localRotation.eulerAngles.y, -newCam.transform.localRotation.eulerAngles.z);
                GameObject zeroCoord = new GameObject("Zero");
                zeroCoord.transform.SetParent(newCam.transform);
                RecoInfo      currentRi = checkRecoID(sessionId);
                StickerInfo[] stickers;
                stickers = null;
                if (currentRi == null)
                {
                    currentRi    = new RecoInfo();
                    currentRi.id = sessionId;
                    if (objectsAmount > 0)
                    {
                        currentRi.scale3dcloud = tempScale3d;
                        stickers = new StickerInfo[objectsAmount];
                        currentRi.stickerArray     = new StickerInfo[objectsAmount];
                        GameObject[,] placeHolders = new GameObject[objectsAmount, 4];
                        for (int j = 0; j < objectsAmount; j++)
                        {
                            currentRi.stickerArray[j] = new StickerInfo();
                            stickers[j] = new StickerInfo();
                            currentRi.stickerArray[j].positions = new Vector3[4];
                            float positionObjX = jsonParse["placeholders"][j]["pose"]["position"]["x"].AsFloat;
                            float positionObjY = jsonParse["placeholders"][j]["pose"]["position"]["y"].AsFloat;
                            float positionObjZ = jsonParse["placeholders"][j]["pose"]["position"]["z"].AsFloat;
                            currentRi.stickerArray[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
                            //    Debug.Log("currentRi.stickerArray[j].mainPositions = " + currentRi.stickerArray[j].mainPositions);
                            stickers[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
                            currentRi.stickerArray[j].orientations = new Vector4(jsonParse["placeholders"][j]["pose"]["orientation"]["x"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["y"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["z"].AsFloat, jsonParse["placeholders"][j]["pose"]["orientation"]["w"].AsFloat);
                            stickers[j].orientations = currentRi.stickerArray[j].orientations;
                            //   Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations" + currentRi.stickerArray[j].orientations);
                            for (int i = 0; i < 4; i++)
                            {
                                px = jsonParse["placeholders"][j]["frame"][i]["x"].AsFloat + positionObjX;
                                py = jsonParse["placeholders"][j]["frame"][i]["y"].AsFloat + positionObjY;
                                pz = jsonParse["placeholders"][j]["frame"][i]["z"].AsFloat + positionObjZ;
                                placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
                                placeHolders[j, i].transform.SetParent(newCam.transform);
                                py = -py;
                                placeHolders[j, i].transform.position  = new Vector3(px, py, pz);
                                currentRi.stickerArray[j].positions[i] = new Vector3(px, py, pz);
                            }

                            string idnode = "" + jsonParse["placeholders"][j]["placeholder_id"];

                            for (int x = 0; x < objectsAmount; x++)
                            {
                                string idobj = "" + jsonParse["objects"][x]["sticker"]["sticker_id"];

                                if (idobj.Contains(idnode))
                                {
                                    stickers[j].sPath             = "" + jsonParse["objects"][x]["sticker"]["path"];
                                    stickers[j].sText             = "" + jsonParse["objects"][x]["sticker"]["sticker_text"];
                                    stickers[j].sType             = "" + jsonParse["objects"][x]["sticker"]["sticker_type"];
                                    stickers[j].sSubType          = "" + jsonParse["objects"][x]["sticker"]["sticker_subtype"];
                                    stickers[j].sDescription      = "" + jsonParse["objects"][x]["sticker"]["description"];
                                    stickers[j].SModel_scale      = "" + jsonParse["objects"][x]["sticker"]["model_scale"];
                                    stickers[j].sId               = "" + jsonParse["objects"][x]["sticker"]["sticker_id"];
                                    stickers[j].objectId          = "" + jsonParse["objects"][x]["placeholder"]["placeholder_id"];
                                    stickers[j].sImage            = "" + jsonParse["objects"][x]["sticker"]["Image"];
                                    stickers[j].sAddress          = "" + jsonParse["objects"][x]["sticker"]["Address"];
                                    stickers[j].sFeedbackAmount   = "" + jsonParse["objects"][x]["sticker"]["Feedback amount"];
                                    stickers[j].sRating           = "" + jsonParse["objects"][x]["sticker"]["Rating"];
                                    stickers[j].sUrl_ta           = "" + jsonParse["objects"][x]["sticker"]["url_ta"];
                                    stickers[j].sTrajectoryPath   = "" + jsonParse["objects"][x]["sticker"]["trajectory_path"];
                                    stickers[j].sTrajectoryOffset = "" + jsonParse["objects"][x]["sticker"]["trajectory_time_offset"];
                                    stickers[j].sTrajectoryPeriod = "" + jsonParse["objects"][x]["sticker"]["trajectory_time_period"];

                                    currentRi.stickerArray[j].sPath             = stickers[j].sPath;
                                    currentRi.stickerArray[j].sText             = stickers[j].sText;
                                    currentRi.stickerArray[j].sType             = stickers[j].sType;
                                    currentRi.stickerArray[j].sSubType          = stickers[j].sSubType;
                                    currentRi.stickerArray[j].sDescription      = stickers[j].sDescription;
                                    currentRi.stickerArray[j].SModel_scale      = stickers[j].SModel_scale;
                                    currentRi.stickerArray[j].sId               = stickers[j].sId;
                                    currentRi.stickerArray[j].sImage            = stickers[j].sImage;
                                    currentRi.stickerArray[j].sAddress          = stickers[j].sAddress;
                                    currentRi.stickerArray[j].sRating           = stickers[j].sRating;
                                    currentRi.stickerArray[j].sUrl_ta           = stickers[j].sUrl_ta;
                                    currentRi.stickerArray[j].sTrajectoryPath   = stickers[j].sTrajectoryPath;
                                    currentRi.stickerArray[j].sTrajectoryOffset = stickers[j].sTrajectoryOffset;
                                    currentRi.stickerArray[j].sTrajectoryPeriod = stickers[j].sTrajectoryPeriod;
                                }
                            }
                        }
                        recoList.Add(currentRi);
                        newCam.transform.position    = cameraPositionInLocalization;
                        newCam.transform.eulerAngles = cameraRotationInLocalization;
                        newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
                        for (int j = 0; j < objectsAmount; j++)
                        {
                            stickers[j].positions = new Vector3[4];
                            for (int i = 0; i < 4; i++)
                            {
                                stickers[j].positions[i] = placeHolders[j, i].transform.position;
                            }
                        }
                    }
                }
                else if (currentRi != null)
                {
                    cameraDistance = Vector3.Magnitude(currentRi.lastCamCoordinate - new Vector3(px, py, pz));
                    tempScale3d    = currentRi.scale3dcloud;
                    int savedNodeLentgh = currentRi.stickerArray.Length;
                    stickers = new StickerInfo[savedNodeLentgh];
                    GameObject[,] placeHolders = new GameObject[savedNodeLentgh, 4];

                    for (int j = 0; j < savedNodeLentgh; j++)
                    {
                        stickers[j] = new StickerInfo();
                        for (int i = 0; i < 4; i++)
                        {
                            placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
                            placeHolders[j, i].transform.SetParent(newCam.transform);
                            placeHolders[j, i].transform.position = currentRi.stickerArray[j].positions[i];
                        }
                        stickers[j].sPath        = currentRi.stickerArray[j].sPath;
                        stickers[j].sText        = currentRi.stickerArray[j].sText;
                        stickers[j].sType        = currentRi.stickerArray[j].sType;
                        stickers[j].sSubType     = currentRi.stickerArray[j].sSubType;
                        stickers[j].sDescription = currentRi.stickerArray[j].sDescription;

                        stickers[j].sId    = currentRi.stickerArray[j].sId;
                        stickers[j].sImage = currentRi.stickerArray[j].sImage;
                        currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
                        currentRi.stickerArray[j].sRating  = stickers[j].sRating;
                        currentRi.stickerArray[j].sUrl_ta  = stickers[j].sUrl_ta;
                    }
                    newCam.transform.position    = cameraPositionInLocalization;
                    newCam.transform.eulerAngles = cameraRotationInLocalization;
                    newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);

                    for (int j = 0; j < savedNodeLentgh; j++)
                    {
                        stickers[j].positions = new Vector3[4];
                        for (int i = 0; i < 4; i++)
                        {
                            stickers[j].positions[i] = placeHolders[j, i].transform.position;
                        }
                    }
                }

                if (zeroCoord.transform.eulerAngles == Vector3.zero)
                {
                    newCam.transform.position    = cameraPositionInLocalization;
                    newCam.transform.eulerAngles = cameraRotationInLocalization;
                    newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
                }
                currentRi.lastCamCoordinate = new Vector3(px, py, pz);
                localizationStatus          = LocalizationStatus.Ready;
                getStickersAction(currentRi.id, zeroCoord.transform, stickers);
                Destroy(newCam);
            }
            else
            {
                Debug.Log("Cant localize");

                localizationStatus = LocalizationStatus.CantLocalize;
                uim.setDebugPose(0, 0, 0, 0, 0, 0, 0, "cant loc");
                getStickersAction(null, null, null);
            }
        }
        // -- if -- GEOPOSE
        else
        {
            if (jsonParse["geopose"] != null)
            {
                sessionId = jsonParse["geopose"]["reconstruction_id"];

                Debug.Log("sessioID: " + sessionId);
                do
                {
                    objectsAmount++;
                    js = jsonParse["scrs"][objectsAmount]["type"];
                    // Debug.Log("js node [" + objectsAmount + "]  - " + js);
                } while (js != null);

                Debug.Log("nodeAmount =   " + objectsAmount + ", RecoArray Length = " + recoList.Count);

                px = jsonParse["geopose"]["local"]["position"]["x"].AsFloat;
                py = jsonParse["geopose"]["local"]["position"]["y"].AsFloat;
                pz = jsonParse["geopose"]["local"]["position"]["z"].AsFloat;
                ox = jsonParse["geopose"]["local"]["orientation"]["x"].AsFloat;
                oy = jsonParse["geopose"]["local"]["orientation"]["y"].AsFloat;
                oz = jsonParse["geopose"]["local"]["orientation"]["z"].AsFloat;
                ow = jsonParse["geopose"]["local"]["orientation"]["w"].AsFloat;
                uim.setDebugPose(px, py, pz, ox, oy, oz, ow, sessionId);
                GameObject newCam = new GameObject("tempCam");
                newCam.transform.localPosition = new Vector3(px, py, pz);
                newCam.transform.localRotation = new Quaternion(ox, oy, oz, ow);
                newCam.transform.localPosition = new Vector3(px, -newCam.transform.localPosition.y, pz);
                // Debug.Log("Camera new: " + newCam.transform.localPosition.x + ", " + newCam.transform.localPosition.y + ", " + newCam.transform.localPosition.z);



                newCam.transform.localRotation = Quaternion.Euler(-newCam.transform.localRotation.eulerAngles.x, newCam.transform.localRotation.eulerAngles.y, -newCam.transform.localRotation.eulerAngles.z);
                GameObject zeroCoord = new GameObject("Zero");
                zeroCoord.transform.SetParent(newCam.transform);
                RecoInfo      currentRi = checkRecoID(sessionId);
                StickerInfo[] stickers;
                stickers = null;
                if (currentRi == null)
                {
                    currentRi    = new RecoInfo();
                    currentRi.id = sessionId;
                    if (objectsAmount > 0)
                    {
                        currentRi.scale3dcloud = tempScale3d;
                        stickers = new StickerInfo[objectsAmount];
                        currentRi.stickerArray     = new StickerInfo[objectsAmount];
                        GameObject[,] placeHolders = new GameObject[objectsAmount, 4];
                        for (int j = 0; j < objectsAmount; j++)
                        {
                            currentRi.stickerArray[j] = new StickerInfo();
                            stickers[j] = new StickerInfo();
                            currentRi.stickerArray[j].positions = new Vector3[4];
                            float positionObjX = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["x"].AsFloat;
                            float positionObjY = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["y"].AsFloat;
                            float positionObjZ = jsonParse["scrs"][j]["content"]["geopose"]["local"]["position"]["z"].AsFloat;
                            currentRi.stickerArray[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
                            //  Debug.Log("currentRi.stickerArray[j].mainPositions = " + currentRi.stickerArray[j].mainPositions);
                            stickers[j].mainPositions = new Vector3(positionObjX, -positionObjY, positionObjZ);
                            currentRi.stickerArray[j].orientations = new Vector4(jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["x"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["y"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["z"].AsFloat, jsonParse["scrs"][j]["content"]["geopose"]["local"]["orientation"]["w"].AsFloat);
                            stickers[j].orientations = currentRi.stickerArray[j].orientations;
                            Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations x" + currentRi.stickerArray[j].orientations.x + "   " + stickers[j].orientations.x);
                            Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations y" + currentRi.stickerArray[j].orientations.y + "   " + stickers[j].orientations.y);
                            Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations z" + currentRi.stickerArray[j].orientations.z + "   " + stickers[j].orientations.z);
                            Debug.Log("!!!!! currentRi.stickerArray[" + j + "].orientations w" + currentRi.stickerArray[j].orientations.w + "   " + stickers[j].orientations.w);

                            for (int i = 0; i < 4; i++)
                            {
                                px = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["x"].AsFloat + positionObjX;
                                py = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["y"].AsFloat + positionObjY;
                                pz = jsonParse["scrs"][j]["content"]["geopose"]["local"]["frame"][i]["z"].AsFloat + positionObjZ;
                                placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
                                placeHolders[j, i].transform.SetParent(newCam.transform);
                                py = -py;
                                placeHolders[j, i].transform.position  = new Vector3(px, py, pz);
                                currentRi.stickerArray[j].positions[i] = new Vector3(px, py, pz);
                            }

                            stickers[j].sPath             = "" + jsonParse["scrs"][j]["content"]["custom_data"]["path"];
                            stickers[j].sText             = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_text"];
                            stickers[j].sType             = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_type"];
                            stickers[j].sSubType          = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_subtype"];
                            stickers[j].sDescription      = "" + jsonParse["scrs"][j]["content"]["custom_data"]["description"];
                            stickers[j].SModel_scale      = "" + jsonParse["scrs"][j]["content"]["custom_data"]["model_scale"];
                            stickers[j].sId               = "" + jsonParse["scrs"][j]["content"]["custom_data"]["sticker_id"];
                            stickers[j].objectId          = "" + jsonParse["scrs"][j]["content"]["custom_data"]["placeholder_id"];
                            stickers[j].sImage            = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Image"];
                            stickers[j].sAddress          = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Address"];
                            stickers[j].sFeedbackAmount   = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Feedback amount"];
                            stickers[j].sRating           = "" + jsonParse["scrs"][j]["content"]["custom_data"]["Rating"];
                            stickers[j].sUrl_ta           = "" + jsonParse["scrs"][j]["content"]["custom_data"]["url_ta"];
                            stickers[j].sTrajectoryPath   = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_path"];
                            stickers[j].sTrajectoryOffset = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_time_offset"];
                            stickers[j].sTrajectoryPeriod = "" + jsonParse["scrs"][j]["content"]["custom_data"]["trajectory_time_period"];

                            currentRi.stickerArray[j].sPath             = stickers[j].sPath;
                            currentRi.stickerArray[j].sText             = stickers[j].sText;
                            currentRi.stickerArray[j].sType             = stickers[j].sType;
                            currentRi.stickerArray[j].sSubType          = stickers[j].sSubType;
                            currentRi.stickerArray[j].sDescription      = stickers[j].sDescription;
                            currentRi.stickerArray[j].SModel_scale      = stickers[j].SModel_scale;
                            currentRi.stickerArray[j].sId               = stickers[j].sId;
                            currentRi.stickerArray[j].sImage            = stickers[j].sImage;
                            currentRi.stickerArray[j].sAddress          = stickers[j].sAddress;
                            currentRi.stickerArray[j].sRating           = stickers[j].sRating;
                            currentRi.stickerArray[j].sUrl_ta           = stickers[j].sUrl_ta;
                            currentRi.stickerArray[j].sTrajectoryPath   = stickers[j].sTrajectoryPath;
                            currentRi.stickerArray[j].sTrajectoryOffset = stickers[j].sTrajectoryOffset;
                            currentRi.stickerArray[j].sTrajectoryPeriod = stickers[j].sTrajectoryPeriod;
                        }
                        recoList.Add(currentRi);
                        newCam.transform.position    = cameraPositionInLocalization;
                        newCam.transform.eulerAngles = cameraRotationInLocalization;
                        newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
                        for (int j = 0; j < objectsAmount; j++)
                        {
                            stickers[j].positions = new Vector3[4];
                            for (int i = 0; i < 4; i++)
                            {
                                stickers[j].positions[i] = placeHolders[j, i].transform.position;
                            }
                        }
                    }
                }
                else if (currentRi != null)
                {
                    cameraDistance = Vector3.Magnitude(currentRi.lastCamCoordinate - new Vector3(px, py, pz));
                    tempScale3d    = currentRi.scale3dcloud;
                    int savedNodeLentgh = currentRi.stickerArray.Length;
                    stickers = new StickerInfo[savedNodeLentgh];
                    GameObject[,] placeHolders = new GameObject[savedNodeLentgh, 4];

                    for (int j = 0; j < savedNodeLentgh; j++)
                    {
                        stickers[j] = new StickerInfo();
                        for (int i = 0; i < 4; i++)
                        {
                            placeHolders[j, i] = new GameObject("Placeholder" + j + " " + i);
                            placeHolders[j, i].transform.SetParent(newCam.transform);
                            placeHolders[j, i].transform.position = currentRi.stickerArray[j].positions[i];
                        }
                        stickers[j].sPath        = currentRi.stickerArray[j].sPath;
                        stickers[j].sText        = currentRi.stickerArray[j].sText;
                        stickers[j].sType        = currentRi.stickerArray[j].sType;
                        stickers[j].sSubType     = currentRi.stickerArray[j].sSubType;
                        stickers[j].sDescription = currentRi.stickerArray[j].sDescription;

                        stickers[j].sId    = currentRi.stickerArray[j].sId;
                        stickers[j].sImage = currentRi.stickerArray[j].sImage;
                        currentRi.stickerArray[j].sAddress = stickers[j].sAddress;
                        currentRi.stickerArray[j].sRating  = stickers[j].sRating;
                        currentRi.stickerArray[j].sUrl_ta  = stickers[j].sUrl_ta;
                    }
                    newCam.transform.position    = cameraPositionInLocalization;
                    newCam.transform.eulerAngles = cameraRotationInLocalization;
                    newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);

                    for (int j = 0; j < savedNodeLentgh; j++)
                    {
                        stickers[j].positions = new Vector3[4];
                        for (int i = 0; i < 4; i++)
                        {
                            stickers[j].positions[i] = placeHolders[j, i].transform.position;
                        }
                    }
                }

                if (zeroCoord.transform.eulerAngles == Vector3.zero)
                {
                    newCam.transform.position    = cameraPositionInLocalization;
                    newCam.transform.eulerAngles = cameraRotationInLocalization;
                    newCam.transform.RotateAround(newCam.transform.position, newCam.transform.forward, 90);
                }
                currentRi.lastCamCoordinate = new Vector3(px, py, pz);
                localizationStatus          = LocalizationStatus.Ready;
                getStickersAction(currentRi.id, zeroCoord.transform, stickers);
                Destroy(newCam);
            }
            else
            {
                Debug.Log("Cant localize");

                localizationStatus = LocalizationStatus.CantLocalize;
                uim.setDebugPose(0, 0, 0, 0, 0, 0, 0, "cant loc");
                getStickersAction(null, null, null);
            }
        }
    }