/// <summary> /// Check if a ray hit point with the point cloud. /// </summary> /// <param name="ray">A ray start from tracked position.</param> /// <param name="pointcloud">A point cloud to hit aginst.</param> /// <param name="hitPoint">The hit point's position.</param> private static bool _IsRayIntersectingPoint(Ray ray, PointCloud pointcloud, ref Vector3 hitPoint) { int pointcloudCount = pointcloud.PointCount; if (pointcloudCount == 0) { ARDebug.LogError("point cloud count is zero"); return(false); } float min = float.MaxValue; bool isPointFound = false; for (int i = 0; i < pointcloudCount; ++i) { Vector3 point = pointcloud.GetPoint(i); Vector3 v0 = point - ray.origin; Vector3 v1 = ray.direction; float angle = Vector3.Angle(v0, v1); const float TOUCH_SEARCH_ANGLE_DEGREE = 5.0f; if (angle < TOUCH_SEARCH_ANGLE_DEGREE && angle < min) { isPointFound = true; hitPoint = point; } } return(isPointFound); }
public bool GetAllCameraMetadataTags( IntPtr cameraMetadataHandle, List <CameraMetadataTag> resultList) { if (InstantPreviewManager.IsProvidingPlatform) { InstantPreviewManager.LogLimitedSupportMessage("access camera metadata tags"); return(false); } IntPtr tagsHandle = IntPtr.Zero; int tagsCount = 0; ExternApi.ArImageMetadata_getAllKeys( _nativeSession.SessionHandle, cameraMetadataHandle, ref tagsCount, ref tagsHandle); if (tagsCount == 0 || tagsHandle == IntPtr.Zero) { ARDebug.LogError( "ArImageMetadata_getAllKeys error with empty metadata keys list."); return(false); } for (int i = 0; i < tagsCount; i++) { resultList.Add((CameraMetadataTag)Marshal.PtrToStructure( MarshalingHelper.GetPtrToUnmanagedArrayElement <int>(tagsHandle, i), typeof(int))); } return(true); }
public static FeaturePointOrientationMode ToFeaturePointOrientationMode( this ApiFeaturePointOrientationMode apiMode) { switch (apiMode) { case ApiFeaturePointOrientationMode.Identity: return(FeaturePointOrientationMode.Identity); case ApiFeaturePointOrientationMode.SurfaceNormal: return(FeaturePointOrientationMode.SurfaceNormal); default: ARDebug.LogError("Invalid value for ApiFeaturePointOrientationMode."); return(FeaturePointOrientationMode.Identity); } }
private void _UpdatePlanes(List <ApiPlaneData> latestPlaneData, List <TrackedPlaneRecord> newPlaneRecords, List <TrackedPlaneRecord> planeRecords, bool forceUpdate) { // Add latest planedata to a convenient hash on ID (note: not hashing plane itself to avoid potential boxing // of the struct on comparison overloads). m_tmpLastestPlanesHash.Clear(); for (int i = 0; i < latestPlaneData.Count; i++) { m_tmpLastestPlanesHash.Add(latestPlaneData[i].id); } // Create or update all planes that appear in latestPlaneData. newPlaneRecords.Clear(); for (int i = 0; i < latestPlaneData.Count; i++) { int planeRecordIndex = _FindPlaneRecordById(latestPlaneData[i].id, planeRecords); if (planeRecordIndex != -1) { planeRecords[planeRecordIndex] = new TrackedPlaneRecord(planeRecords[planeRecordIndex].m_plane, latestPlaneData[i], planeRecords[planeRecordIndex].m_updatePlane); planeRecords[planeRecordIndex].m_updatePlane(latestPlaneData[i], null, forceUpdate); } else { Action <ApiPlaneData, TrackedPlane, bool> updatePlane; var trackedPlane = new TrackedPlane(latestPlaneData[i], out updatePlane); newPlaneRecords.Add(new TrackedPlaneRecord(trackedPlane, latestPlaneData[i], updatePlane)); } } // Add new planes into plane records for (int i = 0; i < newPlaneRecords.Count; i++) { planeRecords.Add(newPlaneRecords[i]); } // Invalidate planes that were previously tracking but not present in latestPlaneData. Delete planes that // are invalid or subsumed. for (int i = planeRecords.Count - 1; i >= 0; i--) { if (!m_tmpLastestPlanesHash.Contains(planeRecords[i].m_planeData.id)) { ApiPlaneData invalidPlane = new ApiPlaneData(); invalidPlane.id = planeRecords[i].m_planeData.id; planeRecords[i].m_updatePlane(invalidPlane, null, true); planeRecords.RemoveAt(i); } else if (planeRecords[i].m_planeData.subsumedBy > -1) { int subsumerIndex = _FindPlaneRecordById(planeRecords[i].m_planeData.subsumedBy, planeRecords); if (subsumerIndex == -1) { ARDebug.LogError("Failed to find a record of the subsuming plane."); continue; } planeRecords[i].m_updatePlane(planeRecords[i].m_planeData, planeRecords[subsumerIndex].m_plane, true); planeRecords.RemoveAt(i); } } }