| public FindClosestPoint ( Camera cam, Vector2 pos, int maxDist ) : int | ||
| cam | Camera | The current camera. |
| pos | Vector2 | Position on screen (in pixels). |
| maxDist | int | The maximum pixel distance to allow. |
| return | int | |
/// <summary>
/// Wait for the next depth update, then find the nearest point in the point
/// cloud.
/// </summary>
/// <param name="touchPosition">Touch position on the screen.</param>
/// <returns>Coroutine IEnumerator.</returns>
private IEnumerator _WaitForDepth(Vector2 touchPosition)
{
m_waitingForDepth = true;
// Turn on the camera and wait for a single depth update
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_waitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.DISABLED);
Camera cam = Camera.main;
int pointIndex = m_pointCloud.FindClosestPoint(cam, touchPosition, 10);
if (pointIndex > -1)
{
// Index is valid
m_startPoint = m_endPoint;
m_endPoint = m_pointCloud.m_points[pointIndex];
m_distance = Vector3.Distance(m_startPoint, m_endPoint);
}
}
void placeObject(Vector2 touchPosition, int k)
{
// Find the plane.
Camera cam = Camera.main;
Vector3 planeCenter;
Plane plane;
int index = m_pointCloud.FindClosestPoint(cam, touchPosition, 30);
// if (!m_pointCloud.FindPlane(cam, touchPosition, out planeCenter, out plane))
// {
// Debug.Log("cannot find plane.");
// return;
// }
//
if (index == -1)
{
print("cannot find surface");
return;
}
//m_Index.text = "Index at " + m_pointCloud.m_points [index];
Vector3 pointIndex = m_pointCloud.m_points [index];
GameObject marker = Instantiate(m_marker, pointIndex, Quaternion.identity);
m_Index.text = "d: " + marker.transform.position;
marker.transform.parent = markersObj.transform;
marker.tag = tags[k];
markers.Add(marker);
if (k < 5)
{
setMindMapReferenceColor(k + 1);
}
}
/// <summary>
/// Wait for the next depth update, then find the nearest edge in the point
/// cloud.
/// </summary>
/// <param name="touchPosition">Touch position on the screen.</param>
/// <returns>Coroutine IEnumerator.</returns>
private IEnumerator _WaitForDepth(Vector2 touchPosition)
{
m_waitingForDepth = true;
// Turn on the camera and wait for a single depth update
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_waitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.DISABLED);
m_camera = Camera.main;
int pointIndex = m_pointCloud.FindClosestPoint(m_camera, touchPosition, 10);
if (pointIndex > -1)
{
m_currTouch = m_pointCloud.m_points[pointIndex];
//_RenderCustomize(m_currTouch, new Vector3(m_currTouch[0] + 0.005f, m_currTouch[1], m_currTouch[2]));
Debug.Log("<<<<<<<<<<<<<<<< mouse position: " + m_currTouch[0] + ", " + m_currTouch[1] + ", " + m_currTouch[2]);
}
TangoSupport.TangoSupportEdge[] edges;
int num_edges;
bool edgeResult = m_pointCloud.FindEdges(m_imagebuffer, m_camera, touchPosition,
out edges, out num_edges);
Debug.Log("<<<<<<<<<<< Edge result: " + edgeResult);
if (edgeResult == true)
{
m_edgeCount = num_edges;
m_startPoint = new Vector3[num_edges];
m_endPoint = new Vector3[num_edges];
m_nearestPoint = new Vector3[num_edges];
for (int i = 0; i < num_edges; i++)
{
Debug.Log("<<<<<<<<< starting point's x: " + edges[i].end_points_x1);
m_startPoint[i] = new Vector3(edges[i].end_points_x1,
edges[i].end_points_y1,
edges[i].end_points_z1);
Debug.Log("<<<<<<<<<< " + m_startPoint[i][0] + ", " + m_startPoint[i][1] + ", " + m_startPoint[i][2]);
m_endPoint[i] = new Vector3(edges[i].end_points_x2,
edges[i].end_points_y2,
edges[i].end_points_z2);
Debug.Log("<<<<<<<<<< " + m_endPoint[i][0] + ", " + m_endPoint[i][1] + ", " + m_endPoint[i][2]);
m_nearestPoint[i] = new Vector3(edges[i].closest_point_on_edge_x,
edges[i].closest_point_on_edge_y,
edges[i].closest_point_on_edge_z);
Debug.Log("<<<<<<<<<< " + m_nearestPoint[i][0] + ", " + m_nearestPoint[i][1] + ", " + m_nearestPoint[i][2]);
}
_RenderLine();
}
}
// Free hand drawing -begin
public void DrawOnScreenFunction()
{
if (Input.touchCount == 1)
{
Touch Pen = Input.GetTouch(0);
Vector2 guiPosition = new Vector2(Pen.position.x, Screen.height - Pen.position.y);
Camera cam = Camera.main;
if (showTextArea.Contains(guiPosition) || buttonArea.Contains(guiPosition))
{
return;
}
int closestIndex = m_pointCloud.FindClosestPoint(cam, Pen.position, TAP_PIXEL_TOLERANCE);
if (closestIndex < 0)
{
return;
}
float closestDepth = cam.WorldToScreenPoint(m_pointCloud.m_points [closestIndex]).z;
Ray touchRay = cam.ScreenPointToRay(new Vector3(Pen.position [0], Pen.position [1], 0));
penDrawPos0 = touchRay.origin + (touchRay.direction * closestDepth);
if (Pen.phase == TouchPhase.Moved)
{
penDrawPos.Add(penDrawPos0);
if (penDrawPos.Count >= 2)
{
Vector3 penPos1 = penDrawPos[penDrawPos.Count - 1];
Vector3 penPos2 = penDrawPos[penDrawPos.Count - 2];
GameObject lineMaterial = (GameObject)Instantiate(GameObject.Find("Line"));
var lineRendered = lineMaterial.GetComponent <LineRenderer> ();
lineRendered.SetPosition(0, penPos1);
lineRendered.SetPosition(1, penPos2);
penDraw.Add(lineMaterial);
}
}
}
else
{
penDrawPos.Clear();
}
}
void Update()
{
if (Input.touchCount > 0)
{
var touch = Input.GetTouch(0);
var indexOfClosestPoint = tangoPointCloud.FindClosestPoint(Camera.main, touch.position, 500); // Returns -1 if not found
if (indexOfClosestPoint != -1)
{
var closestPoint = tangoPointCloud.m_points [indexOfClosestPoint];
var showDragLine = MainMenuController.GetEdgeDetectionMode() == "DRAG";
if (!_hasStartPoint)
{
_hasStartPoint = true;
_firstCorner = closestPoint;
if (showDragLine)
{
StartLine(closestPoint);
}
}
_oppositeCorner = closestPoint;
if (showDragLine)
{
ExtendLine(closestPoint);
}
}
if (touch.phase == TouchPhase.Stationary)
{
_stationaryCount++;
}
if (touch.phase == TouchPhase.Ended || touch.phase == TouchPhase.Canceled || _stationaryCount > 100)
{
_stationaryCount = 0;
line.SetActive(false);
if (_hasStartPoint)
{
_hasStartPoint = false;
HandleTouch(touch.position);
}
}
}
}
/// <summary>
/// Updates the active placed location.
/// </summary>
private void _UpdatePlacedLocation()
{
if (Input.touchCount != 1)
{
return;
}
Touch t = Input.GetTouch(0);
if (t.phase != TouchPhase.Began)
{
return;
}
Camera cam = m_arScreen.m_renderCamera;
int closestIndex = m_pointCloud.FindClosestPoint(cam, t.position, TAP_PIXEL_TOLERANCE);
if (closestIndex < 0)
{
return;
}
if (m_placedLocation)
{
m_placedLocation.SendMessage("Hide");
}
float closestDepth = cam.WorldToScreenPoint(m_pointCloud.m_points[closestIndex]).z;
Ray touchRay = cam.ScreenPointToRay(new Vector3(t.position[0], t.position[1], 0));
Vector3 pos = touchRay.origin + (touchRay.direction * closestDepth);
Vector3 rot = cam.transform.eulerAngles;
rot[0] = rot[2] = 0;
m_placedLocation = (GameObject)Instantiate(m_prefabLocation, pos, Quaternion.Euler(rot));
}
/// <summary>
/// Wait for the next depth update, then find the nearest point in the point
/// cloud.
/// </summary>
/// <param name="touchPosition">Touch position on the screen.</param>
/// <returns>Coroutine IEnumerator.</returns>
private IEnumerator _WaitForDepth(Vector2 touchPosition)
{
m_waitingForDepth = true;
// Turn on the camera and wait for a single depth update
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_waitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(
TangoEnums.TangoDepthCameraRate.DISABLED);
Camera cam = Camera.main;
int pointIndex = m_pointCloud.FindClosestPoint(cam, touchPosition, 10);
if (pointIndex > -1)
{ // Index is valid
if (screenTaps == 0)
{
m_point0 = m_pointCloud.m_points [pointIndex];
Debug.Log(m_point0);
}
else if (screenTaps == 1)
{
m_point1 = m_pointCloud.m_points [pointIndex];
Debug.Log(m_point1);
}
else if (screenTaps == 2)
{
m_point2 = m_pointCloud.m_points [pointIndex];
Debug.Log(m_point2);
}
else
{
m_point3 = m_pointCloud.m_points [pointIndex];
Debug.Log(m_point3);
m_distance23 = Vector3.Distance(m_point2, m_point3);
createCube(m_point0, m_distance01, m_distance23, m_distance12);
}
}
// m_startPoint = m_endPoint;
// m_point1 = m_pointCloud.m_points [pointIndex];
// m_endPoint = m_pointCloud.m_points[pointIndex];
m_distance12 = Vector3.Distance(m_point1, m_point2);
m_distance01 = Vector3.Distance(m_point0, m_point1);
// m_distance34 = Vector3.Distance(m_point3, m_point4);
screenTaps = screenTaps + 1;
Debug.Log(screenTaps);
// insertModel (m_point0, "modern_armchair");
}
/// <summary>
/// Wait for the next depth update, then find the plane at the touch position.
/// </summary>
/// <returns>Coroutine IEnumerator.</returns>
/// <param name="touchPosition">Touch position to find a plane at.</param>
/// <param name="doorCorridorPosition">Door position where to put the door marker.</param>
/// <param name="wall">Touch position to find a plane at.</param>
/// <param name="doorCorridorBool">True if we are putting a door marker.</param>
private IEnumerator _WaitForDepthAndFindPlane(Vector2 touchPosition, Vector3 doorCorridorPosition = new Vector3(), Wall wall = null,
bool doorCorridorBool = false)
{
if (!doorCorridorBool)
{
if (m_currentMarkType == 1 || m_currentMarkType == 2)
{
AndroidHelper.ShowAndroidToastMessage("Door or corridors must be on walls");
yield break;
}
}
m_findPlaneWaitingForDepth = true;
// Turn on the camera and wait for a single depth update.
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.MAXIMUM);
while (m_findPlaneWaitingForDepth)
{
yield return(null);
}
m_tangoApplication.SetDepthCameraRate(TangoEnums.TangoDepthCameraRate.DISABLED);
// Find the plane.
Camera cam = Camera.main;
Vector3 planeCenter;
Plane plane;
// If I'm selecting the floor, set the floor plane
if (m_currentMarkType == 3)
{
if (!m_pointCloud.FindPlane(cam, touchPosition, out planeCenter, out plane))
{
yield break;
}
m_pointCloud.FindFloor();
floor = new Floor(plane, planeCenter);
Debug.Log("Height of the floor " + planeCenter.y);
AndroidHelper.ShowAndroidToastMessage("Floor found!");
yield break;
}
else if (!m_pointCloud.m_floorFound)
{
AndroidHelper.ShowAndroidToastMessage("Please, select first the floor");
yield break;
}
// Find me the point I touched on screen on world coordinates if I'm not putting a door...
if (!doorCorridorBool)
{
int i = m_pointCloud.FindClosestPoint(cam, touchPosition, 10);
if (i < 0)
{
yield break;
}
planeCenter = m_pointCloud.m_points [i];
// Put the marker on the floor height
planeCenter.y = floor.floorCenter.y;
} //... else my door position is already set as parameter.
else
{
planeCenter = doorCorridorPosition;
}
// Ensure the location is always facing the camera. This is like a LookRotation, but for the Y axis.
Vector3 up = floor.floorPlane.normal;
Vector3 forward;
if (Vector3.Angle(floor.floorPlane.normal, cam.transform.forward) < 175)
{
Vector3 right = Vector3.Cross(up, cam.transform.forward).normalized;
forward = Vector3.Cross(right, up).normalized;
}
else
{
// Normal is nearly parallel to camera look direction, the cross product would have too much
// floating point error in it.
forward = Vector3.Cross(up, cam.transform.right);
}
// Instantiate marker object.
newMarkObject = Instantiate(m_markPrefabs [m_currentMarkType],
planeCenter,
Quaternion.LookRotation(forward, up)) as GameObject;
newMarkObject.tag = "CornersAndWalls";
ARMarker markerScript = newMarkObject.GetComponent <ARMarker> ();
markerScript.m_type = m_currentMarkType;
markerScript.m_timestamp = (float)m_poseController.LastPoseTimestamp;
Matrix4x4 uwTDevice = Matrix4x4.TRS(m_poseController.transform.position,
m_poseController.transform.rotation,
Vector3.one);
Matrix4x4 uwTMarker = Matrix4x4.TRS(newMarkObject.transform.position,
newMarkObject.transform.rotation,
Vector3.one);
markerScript.m_deviceTMarker = Matrix4x4.Inverse(uwTDevice) * uwTMarker;
m_markerList.Add(newMarkObject);
prevTouchPos = null;
selectedLine = null;
m_selectedMarker = null;
switch (m_currentMarkType)
{
// Corner case.
case 0:
corners.Add(new Corner(newMarkObject));
break;
// Door case.
case 1:
TouchScreenKeyboard kb = TouchScreenKeyboard.Open("", TouchScreenKeyboardType.Default, false, false, false, false,
"Write the name for this destination marker");
while (!kb.done && !kb.wasCanceled)
{
yield return(null);
}
newMarkObject.name = kb.text;
doors.Add(new Corner(newMarkObject, wall));
break;
default:
Debug.Log("No valid point inserted.");
break;
}
}
