private async void Update()
{
// even though this is an 'async' function, unity will call Update each frame
// even if a previous update is awaiting.
if (_awaiting)
{
return;
}
Action nextAction;
Tuple <ObjectAnchorsBoundingBox, IEnumerable <ObjectQuery> > nextQuery;
if (UpdateQueue.TryDequeue(out nextAction))
{
nextAction();
}
else if (_queryQueue.TryDequeue(out nextQuery))
{
_awaiting = true;
QueryActive = true;
ActiveQueries = nextQuery;
await _objectAnchorsService.DetectObjectAsync(nextQuery.Item2.ToArray());
ActiveQueries = null;
QueryActive = false;
_awaiting = false;
}
else if (_objectAnchorsService.Status == ObjectAnchorsServiceStatus.Running)
{
if (TrackingStrategy == TrackingModeStrategy.Auto)
{
ManageLocatedObjectTrackingStates();
}
// If nothing has been found, try another query.
if (_instanceToTrackedObject.Count == 0 && ActiveDetectionStrategy == DetectionStrategy.Auto)
{
RefillGlobalQueryQueue();
}
}
}
private Task DetectObjectAsync(Microsoft.Azure.ObjectAnchors.SpatialGraph.SpatialGraphCoordinateSystem?coordinateSystem, ObjectAnchorsLocation cameraLocation)
{
//
// Coordinate system may not be available at this time, try it later.
//
if (!coordinateSystem.HasValue)
{
return(Task.CompletedTask);
}
//
// Get camera location and coordinate system.
//
var cameraForward = cameraLocation.Orientation * Vector3.forward;
var estimatedTargetLocation = new ObjectAnchorsLocation
{
Position = cameraLocation.Position + cameraForward * SearchFrustumFarDistance * 0.5f,
Orientation = Quaternion.Euler(0.0f, cameraLocation.Orientation.eulerAngles.y, 0.0f),
};
//
// Remove detected objects far away from the camera.
//
foreach (var instance in _objectAnchorsService.TrackingResults)
{
var location = instance.Location;
if (location.HasValue)
{
var modelBbox = _objectAnchorsService.GetModelBoundingBox(instance.ModelId);
Debug.Assert(modelBbox.HasValue);
// Compute the coordinate of instance bounding box center in Unity world.
var instancePosition = location.Value.Position + location.Value.Orientation * modelBbox.Value.Center;
var offset = instancePosition - cameraLocation.Position;
if (offset.magnitude > SearchFrustumFarDistance * 1.5f)
{
_objectAnchorsService.RemoveObjectInstance(instance.InstanceId);
}
}
}
//
// Detect object(s) in field of view, bounding box, or sphere.
//
var objectQueries = new List <Microsoft.Azure.ObjectAnchors.ObjectQuery>();
var trackingResults = _objectAnchorsService.TrackingResults;
lock (_objectQueries)
foreach (var objectQuery in _objectQueries)
{
var modelId = objectQuery.Key;
var query = objectQuery.Value.Query;
//
// Optionally skip a model detection if an instance is already found.
//
if (SearchSingleInstance)
{
if (trackingResults.Where(r => r.ModelId == modelId).Count() > 0)
{
continue;
}
}
var modelBox = _objectAnchorsService.GetModelBoundingBox(modelId);
Debug.Assert(modelBox.HasValue);
query.SearchAreas.Clear();
switch (SearchAreaShape)
{
case SearchAreaKind.Box:
{
// Adapt bounding box size to model size. Note that Extents.z is model's height.
float modelXYSize = new Vector2(modelBox.Value.Extents.x, modelBox.Value.Extents.y).magnitude;
var boundingBox = new ObjectAnchorsBoundingBox
{
Center = estimatedTargetLocation.Position,
Orientation = estimatedTargetLocation.Orientation,
Extents = new Vector3(modelXYSize * SearchAreaScaleFactor, modelBox.Value.Extents.z * SearchAreaScaleFactor, modelXYSize * SearchAreaScaleFactor),
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromOrientedBox(
coordinateSystem.Value,
boundingBox.ToSpatialGraph()));
break;
}
case SearchAreaKind.FieldOfView:
{
var fieldOfView = new ObjectAnchorsFieldOfView
{
Position = cameraLocation.Position,
Orientation = cameraLocation.Orientation,
FarDistance = SearchFrustumFarDistance,
HorizontalFieldOfViewInDegrees = SearchFrustumHorizontalFovInDegrees,
AspectRatio = SearchFrustumAspectRatio,
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromFieldOfView(
coordinateSystem.Value,
fieldOfView.ToSpatialGraph()));
break;
}
case SearchAreaKind.Sphere:
{
// Adapt sphere radius to model size.
float modelDiagonalSize = modelBox.Value.Extents.magnitude;
var sphere = new ObjectAnchorsSphere
{
Center = estimatedTargetLocation.Position,
Radius = modelDiagonalSize * 0.5f * SearchAreaScaleFactor,
};
query.SearchAreas.Add(
Microsoft.Azure.ObjectAnchors.ObjectSearchArea.FromSphere(
coordinateSystem.Value,
sphere.ToSpatialGraph()));
break;
}
}
objectQueries.Add(query);
}
//
// Pause a while if detection is not required.
//
if (objectQueries.Count == 0)
{
Thread.Sleep(100);
return(Task.CompletedTask);
}
//
// Run detection.
//
// Add event to the queue.
_objectAnchorsEventQueue.Enqueue(
new ObjectAnchorsServiceEvent
{
Kind = ObjectAnchorsServiceEventKind.DetectionAttempted,
Args = null
});
return(_objectAnchorsService.DetectObjectAsync(objectQueries.ToArray()));
}