コード例 #1
0
 protected virtual void PlaneUpdatedHandler(BoundedPlane plane)
 {
     if (m_PlanePrefab)
     {
         CreateOrUpdateGameObject(plane);
     }
 }
コード例 #2
0
 protected void OnPlaneRemoved(BoundedPlane plane)
 {
     if (planeRemoved != null)
     {
         planeRemoved(plane);
     }
 }
コード例 #3
0
        private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
        {
            var extents  = (tp.ExtentX != bp.extents.x || tp.ExtentZ != bp.extents.y);
            var rotation = tp.Rotation != bp.rotation;
            var position = tp.Position != bp.center;

            return(extents || rotation || position);
        }
コード例 #4
0
        private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
        {
            var extents  = (!FloatCompare(tp.ExtentX, bp.extents.x) || !FloatCompare(tp.ExtentZ, bp.extents.y));
            var rotation = tp.Rotation != bp.rotation;
            var position = tp.Position != bp.center;

            return(extents || rotation || position);
        }
コード例 #5
0
 void ARInterface_PlaneAdded(UnityARInterface.BoundedPlane obj)
 {
     _lastHeight = obj.center.y;
     IndoorMappingDemo.ApplicationUIManager.Instance.OnStateChanged(IndoorMappingDemo.ApplicationState.AR_Calibration);
     ARInterface.planeAdded -= ARInterface_PlaneAdded;
     Debug.Log("Plane Detected");
     ARInterface.planeAdded -= ARInterface_PlaneAdded;
 }
コード例 #6
0
        private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
        {
            var tpExtents = new Vector2(tp.ExtentX, tp.ExtentZ);
            var extents   = Vector2.Distance(tpExtents, bp.extents) > 0.005f;
            var rotation  = tp.Rotation != bp.rotation;
            var position  = Vector2.Distance(tp.Position, bp.center) > 0.005f;

            return(extents || rotation || position);
        }
コード例 #7
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        private bool PlaneUpdated(DetectedPlane dp, BoundedPlane bp)
        {
            var dpExtents = new Vector2(dp.ExtentX, dp.ExtentZ);
            var extents   = Vector2.Distance(dpExtents, bp.extents) > 0.005f;
            var rotation  = dp.CenterPose.rotation != bp.rotation;
            var position  = Vector2.Distance(dp.CenterPose.position, bp.center) > 0.005f;

            return(extents || rotation || position);
        }
コード例 #8
0
        protected virtual void PlaneRemovedHandler(BoundedPlane plane)
        {
            GameObject go;

            if (m_Planes.TryGetValue(plane.id, out go))
            {
                Destroy(go);
                m_Planes.Remove(plane.id);
            }
        }
コード例 #9
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        void UpdateARPlane(BoundedPlane arPlane)
        {
            if (_planeId == null)
            {
                _planeId = arPlane.id;
            }

            if (arPlane.id == _planeId)
            {
                _cachedARPlane = arPlane;
            }

            returnARPlane(_cachedARPlane);
        }
コード例 #10
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        protected virtual void CreateOrUpdateGameObject(BoundedPlane plane)
        {
            GameObject go;

            if (!m_Planes.TryGetValue(plane.id, out go))
            {
                go = Instantiate(m_PlanePrefab, GetRoot());

                // Make sure we can pick them later
                foreach (var collider in go.GetComponentsInChildren <Collider>())
                {
                    collider.gameObject.layer = m_PlaneLayer;
                }

                m_Planes.Add(plane.id, go);
            }

            go.transform.localPosition = plane.center;
            go.transform.localRotation = plane.rotation;
            go.transform.localScale    = new Vector3(plane.extents.x, 1f, plane.extents.y);
        }
コード例 #11
0
        public override IEnumerator StartService(Settings settings)
        {
            m_CameraPose = Pose.identity;
            m_CameraPose.position.Set(0, 0, 0);
            m_LastTime      = Time.time;
            m_State         = State.Initialized;
            m_FakePlanes    = new BoundedPlane[2];
            m_FakePlanes[0] = new BoundedPlane()
            {
                id      = "0x1",
                extents = new Vector2(2.2f, 2f),
                //extents = new Vector2(1f, 1f),
                rotation = Quaternion.AngleAxis(60f, Vector3.up),
                center   = new Vector3(2f, -1f, 3f)
                           //center = new Vector3(1f, 1f, 1f)
            };

            m_FakePlanes[1] = new BoundedPlane()
            {
                id       = "0x2",
                extents  = new Vector2(2f, 2f),
                rotation = Quaternion.AngleAxis(200f, Vector3.up),
                center   = new Vector3(3f, 1f, 3f)
            };

            m_PointCloud = new Vector3[20];
            for (int i = 0; i < 20; ++i)
            {
                m_PointCloud[i] = new Vector3(
                    UnityEngine.Random.Range(-2f, 2f),
                    UnityEngine.Random.Range(-.5f, .5f),
                    UnityEngine.Random.Range(-2f, 2f));
            }

            IsRunning = true;
            return(null);
        }
コード例 #12
0
        public override void Update()
        {
            if (m_SessionManager == null)
            {
                return;
            }

            AsyncTask.OnUpdate();

            if (Frame.TrackingState != TrackingState.Tracking)
            {
                return;
            }

            Frame.GetPlanes(m_TrackedPlaneBuffer);
            foreach (var trackedPlane in m_TrackedPlaneBuffer)
            {
                BoundedPlane boundedPlane;
                if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
                {
                    // remove any subsumed planes
                    if (trackedPlane.SubsumedBy != null)
                    {
                        OnPlaneRemoved(boundedPlane);
                        m_TrackedPlanes.Remove(trackedPlane);
                    }
                    // update any planes with changed extents
                    else if (PlaneUpdated(trackedPlane, boundedPlane))
                    {
                        boundedPlane.center    = trackedPlane.Position;
                        boundedPlane.rotation  = trackedPlane.Rotation;
                        boundedPlane.extents.x = trackedPlane.ExtentX;
                        boundedPlane.extents.y = trackedPlane.ExtentZ;
                        OnPlaneUpdated(boundedPlane);
                    }
                }
                // add any new planes
                else
                {
                    boundedPlane = new BoundedPlane()
                    {
                        id       = Guid.NewGuid().ToString(),
                        center   = trackedPlane.Position,
                        rotation = trackedPlane.Rotation,
                        extents  = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
                    };

                    m_TrackedPlanes.Add(trackedPlane, boundedPlane);
                    OnPlaneAdded(boundedPlane);
                }
            }

            // Check for planes that were removed from the tracked plane list
            List <TrackedPlane> planesToRemove = new List <TrackedPlane>();

            foreach (var kvp in m_TrackedPlanes)
            {
                var trackedPlane = kvp.Key;
                if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
                {
                    OnPlaneRemoved(kvp.Value);
                    planesToRemove.Add(trackedPlane);
                }
            }

            foreach (var plane in planesToRemove)
            {
                m_TrackedPlanes.Remove(plane);
            }
        }
コード例 #13
0
ファイル: ARRemoteDevice.cs プロジェクト: seanmoakes/tARtris
        public void PlaneRemovedHandler(BoundedPlane plane)
        {
            SerializableBoundedPlane serializedPlane = plane;

            SendToEditor(ARMessageIds.removePlane, serializedPlane);
        }
コード例 #14
0
        public override void Update()
        {
            if (m_ARCoreSession == null)
            {
                return;
            }

            AsyncTask.OnUpdate();

            if (Session.Status != SessionStatus.Tracking)
            {
                return;
            }

            if (m_ARCoreSessionConfig.PlaneFindingMode != DetectedPlaneFindingMode.Disabled)
            {
                Session.GetTrackables <DetectedPlane>(m_TrackedPlaneBuffer, TrackableQueryFilter.All);
                foreach (var trackedPlane in m_TrackedPlaneBuffer)
                {
                    BoundedPlane boundedPlane;
                    if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
                    {
                        // remove any subsumed planes
                        if (trackedPlane.SubsumedBy != null)
                        {
                            OnPlaneRemoved(boundedPlane);
                            m_TrackedPlanes.Remove(trackedPlane);
                        }
                        // update any planes with changed extents
                        else if (PlaneUpdated(trackedPlane, boundedPlane))
                        {
                            boundedPlane.center           = trackedPlane.CenterPose.position;
                            boundedPlane.rotation         = trackedPlane.CenterPose.rotation;
                            boundedPlane.extents.x        = trackedPlane.ExtentX;
                            boundedPlane.extents.y        = trackedPlane.ExtentZ;
                            m_TrackedPlanes[trackedPlane] = boundedPlane;
                            OnPlaneUpdated(boundedPlane);
                        }
                    }
                    // add any new planes
                    else
                    {
                        boundedPlane = new BoundedPlane()
                        {
                            id       = Guid.NewGuid().ToString(),
                            center   = trackedPlane.CenterPose.position,
                            rotation = trackedPlane.CenterPose.rotation,
                            extents  = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
                        };

                        m_TrackedPlanes.Add(trackedPlane, boundedPlane);
                        OnPlaneAdded(boundedPlane);
                    }
                }

                // Check for planes that were removed from the tracked plane list
                List <DetectedPlane> planesToRemove = new List <DetectedPlane>();
                foreach (var kvp in m_TrackedPlanes)
                {
                    var trackedPlane = kvp.Key;
                    if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
                    {
                        OnPlaneRemoved(kvp.Value);
                        planesToRemove.Add(trackedPlane);
                    }
                }

                foreach (var plane in planesToRemove)
                {
                    m_TrackedPlanes.Remove(plane);
                }
            }

            //Update Anchors
            foreach (var anchor in m_Anchors)
            {
                anchor.Key.transform.position = anchor.Value.transform.position;
                anchor.Key.transform.rotation = anchor.Value.transform.rotation;
            }
        }
コード例 #15
0
        public override void Update()
        {
            SessionManager.Instance.EarlyUpdate();

            if (Frame.TrackingState != FrameTrackingState.Tracking)
            {
                return;
            }

            Frame.GetAllPlanes(ref m_TrackedPlaneBuffer);

            foreach (var trackedPlane in m_TrackedPlaneBuffer)
            {
                if (trackedPlane.IsUpdated)
                {
                    BoundedPlane boundedPlane;
                    if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
                    {
                        if (trackedPlane.SubsumedBy == null)
                        {
                            OnPlaneUpdated(boundedPlane);
                        }
                        else
                        {
                            OnPlaneRemoved(boundedPlane);
                            m_TrackedPlanes.Remove(trackedPlane);
                        }
                    }
                    else
                    {
                        boundedPlane = new BoundedPlane()
                        {
                            id       = Guid.NewGuid().ToString(),
                            center   = trackedPlane.Position,
                            rotation = trackedPlane.Rotation,
                            extents  = trackedPlane.Bounds
                        };

                        m_TrackedPlanes.Add(trackedPlane, boundedPlane);
                        OnPlaneAdded(boundedPlane);
                    }
                }
            }

            // Check for planes that were removed from the tracked plane list
            List <TrackedPlane> planesToRemove = new List <TrackedPlane>();

            foreach (var kvp in m_TrackedPlanes)
            {
                var trackedPlane = kvp.Key;

                if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
                {
                    OnPlaneRemoved(kvp.Value);

                    // Add to list here to avoid mutating the dictionary
                    // while iterating over it.
                    planesToRemove.Add(trackedPlane);
                }
            }

            foreach (var plane in planesToRemove)
            {
                m_TrackedPlanes.Remove(plane);
            }
        }
コード例 #16
0
        public override void Update()
        {
            if (m_ARCoreSession == null)
            {
                return;
            }

            AsyncTask.OnUpdate();

            if (lastFrameTrackingState == SessionStatus.Tracking && Session.Status != SessionStatus.Tracking && !_trackingLostCountdownInProgress)
            {
                //Debounce - if we regain tracking within a second, just send it as a TrackingJumped event - less disruptive that completely losing tracking.
                Mapbox.Unity.Utilities.Console.Instance.Log("Tracking lost (changed from " + lastFrameTrackingState + " to " + Session.Status + "), starting countdown timer", "yellow");
                _trackingLostCountdownInProgress = true;
                _trackingLostLastPose            = Frame.Pose;
                _trackingLostTime = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
            }

            if (Session.Status != lastFrameTrackingState && Session.Status == SessionStatus.Tracking)
            {
                if (!_trackingLostCountdownInProgress)
                {
                    OnTrackingStarted(Frame.Pose);
                }
                else
                {
                    //Regained tracking within a second, send a jump.
                    long timeNow = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
                    Mapbox.Unity.Utilities.Console.Instance.Log("Tracking recovered after " + (timeNow - _trackingLostTime) + "ms, sending a TrackingJump instead of TrackingLost & TrackingStart. ", "yellow");
                    OnTrackingJumped(Frame.Pose, lastFramePose);
                    _trackingLostCountdownInProgress = false;
                    _trackingLostLastPose            = new Pose();
                    _trackingLostTime = 0;
                }
            }

            if (lastFrameTrackingState == SessionStatus.Tracking && //Do not fire "OnTrackingJumped" on the first frame when tracking just started (OnTrackingStarted will fire instead, see above).
                Session.Status == SessionStatus.Tracking &&
                ((Frame.Pose.position - lastFramePose.position).magnitude > 1 ||
                 Quaternion.Angle(Frame.Pose.rotation, lastFramePose.rotation) > 30)
                )
            {
                Mapbox.Unity.Utilities.Console.Instance.Log(string.Format("Jump strength: position: {0}m, rotation: {1} degrees ", (Frame.Pose.position - lastFramePose.position).magnitude, Quaternion.Angle(Frame.Pose.rotation, lastFramePose.rotation)), "yellow");
                OnTrackingJumped(Frame.Pose, lastFramePose);
            }

            //Check if trackingLost timer expired
            if (Session.Status != SessionStatus.Tracking && _trackingLostCountdownInProgress)
            {
                long timeNow = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
                if (timeNow - _trackingLostTime >= 1000)
                {
                    Mapbox.Unity.Utilities.Console.Instance.Log("Tracking lost timer expired after " + (timeNow - _trackingLostTime) + "ms, sending TrackingLost", "yellow");
                    OnTrackingLost(_trackingLostLastPose);
                    _trackingLostCountdownInProgress = false;
                    _trackingLostLastPose            = new Pose();
                    _trackingLostTime = 0;
                }
            }

            //Save frameTrackingState so we can compare on next frame & detect changes.
            lastFrameTrackingState = Session.Status;
            if (Session.Status == SessionStatus.Tracking)
            {
                lastFramePose = Frame.Pose;
            }

            if (Session.Status != SessionStatus.Tracking)
            {
                return;
            }

            if (m_ARCoreSessionConfig.EnablePlaneFinding)
            {
                Session.GetTrackables <TrackedPlane>(m_TrackedPlaneBuffer, TrackableQueryFilter.All);
                foreach (var trackedPlane in m_TrackedPlaneBuffer)
                {
                    BoundedPlane boundedPlane;
                    if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
                    {
                        // remove any subsumed planes
                        if (trackedPlane.SubsumedBy != null)
                        {
                            OnPlaneRemoved(boundedPlane);
                            m_TrackedPlanes.Remove(trackedPlane);
                        }
                        // update any planes with changed extents
                        else if (PlaneUpdated(trackedPlane, boundedPlane))
                        {
                            boundedPlane.center           = trackedPlane.CenterPose.position;
                            boundedPlane.rotation         = trackedPlane.CenterPose.rotation;
                            boundedPlane.extents.x        = trackedPlane.ExtentX;
                            boundedPlane.extents.y        = trackedPlane.ExtentZ;
                            m_TrackedPlanes[trackedPlane] = boundedPlane;
                            OnPlaneUpdated(boundedPlane);
                        }
                    }
                    // add any new planes
                    else
                    {
                        boundedPlane = new BoundedPlane()
                        {
                            id       = Guid.NewGuid().ToString(),
                            center   = trackedPlane.CenterPose.position,
                            rotation = trackedPlane.CenterPose.rotation,
                            extents  = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
                        };

                        m_TrackedPlanes.Add(trackedPlane, boundedPlane);
                        OnPlaneAdded(boundedPlane);
                    }
                }

                // Check for planes that were removed from the tracked plane list
                List <TrackedPlane> planesToRemove = new List <TrackedPlane>();
                foreach (var kvp in m_TrackedPlanes)
                {
                    var trackedPlane = kvp.Key;
                    if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
                    {
                        OnPlaneRemoved(kvp.Value);
                        planesToRemove.Add(trackedPlane);
                    }
                }

                foreach (var plane in planesToRemove)
                {
                    m_TrackedPlanes.Remove(plane);
                }
            }

            //Update Anchors
            foreach (var anchor in m_Anchors)
            {
                anchor.Key.transform.position = anchor.Value.transform.position;
                anchor.Key.transform.rotation = anchor.Value.transform.rotation;
            }
        }