private IEnumerator CheckSensorsRepeatedly()
{
const string SensorFailureMessage = "Please restart the application";
SlamLocalizer slamLocalizer = GameObject.FindObjectOfType <SlamLocalizer>();
//If the SLAM localizer is not being used then the sensor status cannot be read.
if (!slamLocalizer)
{
yield break;
}
for (; ;)
{
//Wait until the sensors should be ready.
if (!slamLocalizer.SlamFeedback.CameraReady)
{
yield return(null);
continue;
}
//The IMU should be ready before the Camera is ready. If not then this is reported as an error.
if (!slamLocalizer.SlamFeedback.HasFirstImu)
{
_controller.ChangeMinorMessage(SensorFailureMessage);
_controller.SetTitleVisibility(true);
}
yield break;
}
}
/// <summary>
/// Subscribe to the events of SlamLocalizer.
/// </summary>
/// <param name="localizer">Slam localizer</param>
/// <returns>True if successful, false otherwise</returns>
public bool ListenToSlamLocalizer(SlamLocalizer localizer)
{
if (localizer == null)
{
Debug.LogError("Given Slam Localizer is null");
return(false);
}
localizer.onSlamTrackingLost.AddListener(OnSlamTrackingLost);
localizer.onSlamTrackingRelocalized.AddListener(OnSlamTrackingRecovered);
return(true);
}
/// <summary>
/// Subscribe to the events of SlamLocalizer.
/// </summary>
/// <param name="localizer">Slam localizer</param>
/// <returns>True if successful, false otherwise</returns>
public bool ListenToSlamLocalizer(SlamLocalizer localizer)
{
if (localizer == null)
{
Debug.LogError("Given Slam Localizer is null");
return(false);
}
_slamLocalizer = localizer;
SubscribeToSlamLocalizer(true);
return(true);
}
/// <summary>
/// Handles assignment/removal of the canvas shown in place of the Webcam.
/// </summary>
/// <param name="changedToMode"></param>
private void Start()
{
_sensorController = GetComponentInChildren <MetaSensorMessageController>();
_slamLocalizer = GetComponent <SlamLocalizer>();
_slamLocalizer.onSlamSensorsReady.AddListener(SlamInitCallback);
Screen.SetResolution(1280, 720, false);
_controller = ConstructCanvas();
_compositor = GetComponent <MetaCompositor>();
StartCoroutine(SetMessage());
}
/// <summary>
/// Generate the points for SLAM initialization that the user has to look at.
/// TODO: If we go with the current version, only one point will be needed. If we go with the arrow version, all points are needed.
/// </summary>
private void Start()
{
// build all slam init points for the specified angle and step settings
// "halfCircleCount * 2" pieces for "fromAngle" to "toAngle"
// save them in an array
// then do calibration fromIndex toIndex and use these points (activate/deactivate/show correct graphics/animation/light)
_slamLocalizer = FindObjectOfType <SlamLocalizer>();
if (eyeCamera == null)
{
eyeCamera = GameObject.Find("StereoCameras").transform;
}
if (eyeCamera == null)
{
Debug.LogError("Couldn't find stereo cameras!");
}
particles.gameObject.SetActive(false);
leftArrows.gameObject.SetActive(useDirectionArrows);
rightArrows.gameObject.SetActive(useDirectionArrows);
var pointCount = useArrowAnimation ? stepCountHalfCircle * 2 : 1;
pointCount = Mathf.RoundToInt(useArrowAnimation ? (stepCountHalfCircle * 2) : 1);
_points = new SLAMInitializationGazePoint[pointCount];
for (int i = 0; i < pointCount; i++)
{
var angle = Mathf.Lerp(-180, 180, (float)i / (pointCount + 1));
SLAMInitializationGazePoint gazePoint = Instantiate(slamInitPrefab);
gazePoint.EyeCamera = eyeCamera;
gazePoint.transform.parent = transform;
gazePoint.transform.localPosition = Vector3.zero;
gazePoint.transform.localRotation = Quaternion.Euler(0, angle, 0);
gazePoint.requiredLookAtTime = lookAtTime;
// initialize and hide these points
// in non-arrow mode, they are invisible anyways
gazePoint.direction = 1;
gazePoint.Activate(false);
gazePoint.number = i;
gazePoint.slamUI = this;
_points[i] = gazePoint;
}
}
private void InitSlamLocalizerAnalytics()
{
SlamLocalizer slamLocalizer = GameObject.FindObjectOfType <SlamLocalizer>();
if (slamLocalizer == null)
{
Debug.LogError(GetType() + ": Could not retrieve localizer.");
return;
}
slamLocalizer.onSlamSensorsReady.AddListener(BeginLocalizationEvent);
slamLocalizer.onSlamLocalizerResetEvent.AddListener(BeginLocalizationEvent);
slamLocalizer.onSlamMappingComplete.AddListener(() => { EndLocalizationEvent(true); });
slamLocalizer.onSlamInitializationFailed.AddListener(() => { EndLocalizationEvent(false); });
}
private void EndLocalizationEvent(bool success)
{
SlamLocalizer slamLocalizer = GameObject.FindObjectOfType <SlamLocalizer>();
if (slamLocalizer)
{
RecordSlamSuccessRate(success);
_slamImuStartedOk = slamLocalizer.SlamFeedback.HasFirstImu;
if (slamLocalizer.SlamInitializedFromLoadedMap && !_slamRelocalizationChanceSpent)
{
_slamSuccessfulRelocalizationDuration = Time.fixedUnscaledTime - _slamInitBeginTime;
_slamRelocalizationSuccessful = true;
}
else if (_slamBeganInitialization)
{
_slamInitTimes.Add(Time.fixedUnscaledTime - _slamInitBeginTime);
_slamBeganInitialization = false;
}
_slamRelocalizationChanceSpent = true;
}
}
