/// <summary>
/// Coroutine that spreads the work of displaying scene objects across multiple frames.
/// </summary>
/// <returns>IEnumerator.</returns>
private IEnumerator DisplayData()
{
StatusText.Clear();
StatusText.Append("About to display the latest set of scene objects.");
StatusText.Append(string.Format("Current Settings:-\n\tRenderSceneObjects: {0}; SceneObjectVisualizationMode: {1}; RenderInferredRegions: {2};\n\tRenderPlatform: {3}; RenderBackground: {4}; RenderUnknown: {5}; RenderCompletelyInferred: {6};\n\tRenderWorldMesh: {7}; WorldMeshLOD: {8};\n\tBoundingSphereRadiusInMeters: {9};",
RenderSceneObjects, SceneObjectVisualizationMode.ToString(), SUDataProvider.RequestInferredRegions, RenderPlatformSceneObjects, RenderBackgroundSceneObjects, RenderUnknownSceneObjects, RenderCompletelyInferredSceneObjects, RenderWorldMesh, SUDataProvider.WorldMeshLOD.ToString(), SUDataProvider.BoundingSphereRadiusInMeters));
// First, get the latest scene from the data provider.
Tuple <Guid, byte[]> latestSceneData = SUDataProvider.GetLatestSerializedScene();
byte[] serializedScene = latestSceneData.Item2;
if (serializedScene != null)
{
// Then, deserialize the scene.
SceneUnderstanding.Scene scene = SceneUnderstanding.Scene.Deserialize(serializedScene);
if (scene != null)
{
// This will destroy all game objects under root.
SUUtils.DestroyAllGameObjectsUnderParent(SceneRoot.transform);
// Return to account for the destruction of the game objects at the end of the frame.
yield return(null);
// Retrieve the Scene to Unity world transform.
System.Numerics.Matrix4x4?sceneToUnityTransform = TransformUtils.GetSceneToUnityTransform(scene.OriginSpatialGraphNodeId, SUDataProvider.RunOnDevice);
if (sceneToUnityTransform != null)
{
// This will place the root object that represents the scene in the right place.
TransformUtils.SetUnityTransformFromMatrix4x4(sceneToUnityTransform.Value, SceneRoot.transform);
// Retrieve all the scene objects, associated with this scene.
IEnumerable <SceneUnderstanding.SceneObject> sceneObjects = scene.SceneObjects;
int i = 0;
foreach (SceneUnderstanding.SceneObject sceneObject in sceneObjects)
{
if (DisplaySceneObject(sceneObject))
{
++i;
if (i % 5 == 0)
{
yield return(null);
}
}
}
}
// When running on PC, orient the main camera such that the floor is on the Unity world's X-Z plane.
if (SUDataProvider.RunOnDevice == false)
{
SUUtils.OrientSceneRootForPC(SceneRoot, scene);
}
}
}
StatusText.Append("SceneUnderstandingDisplayManager.DisplayData: Display completed.");
_displayInProgress = false;
_lastDisplayedSceneGuid = latestSceneData.Item1;
}
/// <summary>
/// Saves a serialized scene from Scene Understanding to disk as obj files. One obj file is saved per class, i.e. one file for walls, one file for ceilings, etc.
/// </summary>
/// <param name="serializedScene">Serialized scene.</param>
/// <returns>Task.</returns>
public static async Task SaveObjsToDiskAsync(byte[] serializedScene)
{
if (serializedScene == null)
{
Logger.LogWarning("SceneUnderstandingSaveDataUtils.SaveObjsToDisk: Nothing to save.");
return;
}
// Deserialize the scene.
SceneUnderstanding.Scene scene = SceneUnderstanding.Scene.Deserialize(serializedScene);
// List of all SceneObjectKind enum values.
List <SceneUnderstanding.SceneObjectKind> sceneObjectKinds = Enum.GetValues(typeof(SceneUnderstanding.SceneObjectKind)).Cast <SceneUnderstanding.SceneObjectKind>().ToList();
List <Task> tasks = new List <Task>();
foreach (SceneUnderstanding.SceneObjectKind soKind in sceneObjectKinds)
{
tasks.Add(SaveSceneObjectsAsObjAsync(
scene.SceneObjects.Where <SceneUnderstanding.SceneObject>(so => so.Kind == soKind),
SceneUnderstandingUtils.GetColorForLabel(soKind) == null ? Color.black : SceneUnderstandingUtils.GetColorForLabel(soKind).Value,
string.Format("{0}_{1}", GetDefaultFileName(), soKind.ToString())));
}
await Task.WhenAll(tasks);
}
/// <summary>
/// Orients the root game object, such that the Scene Understanding floor lies on the Unity world's X-Z plane.
/// </summary>
/// <param name="sceneRoot">Root game object.</param>
/// <param name="scene">Scene Understanding scene.</param>
public void OrientSceneRootForPC(GameObject sceneRoot, SceneUnderstanding.Scene scene)
{
if (scene == null)
{
Logger.LogWarning("SceneUnderstandingUtils.OrientSceneRootForPC: Scene is null.");
return;
}
IEnumerable <SceneUnderstanding.SceneObject> sceneObjects = scene.SceneObjects;
float areaForlargestFloorSoFar = 0;
SceneUnderstanding.SceneObject floorSceneObject = null;
SceneUnderstanding.SceneQuad floorQuad = null;
// Find the largest floor quad.
foreach (SceneUnderstanding.SceneObject so in sceneObjects)
{
if (so.Kind == SceneUnderstanding.SceneObjectKind.Floor)
{
IEnumerable <SceneUnderstanding.SceneQuad> quads = so.Quads;
if (quads != null)
{
foreach (SceneUnderstanding.SceneQuad quad in quads)
{
float quadArea = quad.Extents.X * quad.Extents.Y;
if (quadArea > areaForlargestFloorSoFar)
{
areaForlargestFloorSoFar = quadArea;
floorSceneObject = so;
floorQuad = quad;
}
}
}
}
}
if (floorQuad != null)
{
// Compute the floor quad's normal.
float widthInMeters = floorQuad.Extents.X;
float heightInMeters = floorQuad.Extents.Y;
System.Numerics.Vector3 point1 = new System.Numerics.Vector3(-widthInMeters / 2, -heightInMeters / 2, 0);
System.Numerics.Vector3 point2 = new System.Numerics.Vector3(widthInMeters / 2, -heightInMeters / 2, 0);
System.Numerics.Vector3 point3 = new System.Numerics.Vector3(-widthInMeters / 2, heightInMeters / 2, 0);
System.Numerics.Matrix4x4 floorTransform = floorSceneObject.GetLocationAsMatrix();
floorTransform = TransformUtils.ConvertRightHandedMatrix4x4ToLeftHanded(floorTransform);
System.Numerics.Vector3 tPoint1 = System.Numerics.Vector3.Transform(point1, floorTransform);
System.Numerics.Vector3 tPoint2 = System.Numerics.Vector3.Transform(point2, floorTransform);
System.Numerics.Vector3 tPoint3 = System.Numerics.Vector3.Transform(point3, floorTransform);
System.Numerics.Vector3 p21 = tPoint2 - tPoint1;
System.Numerics.Vector3 p31 = tPoint3 - tPoint1;
System.Numerics.Vector3 floorNormal = System.Numerics.Vector3.Cross(p31, p21);
// Numerics to Unity conversion.
Vector3 floorNormalUnity = new Vector3(floorNormal.X, floorNormal.Y, floorNormal.Z);
// Get the rotation between the floor normal and Unity world's up vector.
Quaternion rotation = Quaternion.FromToRotation(floorNormalUnity, Vector3.up);
// Apply the rotation to the root, so that the floor is on the Camera's x-z plane.
sceneRoot.transform.rotation = rotation;
}
}