/// <summary>
/// Begins the calibration process.
/// </summary>
/// <param name="initializationType"></param>
public void Begin(SlamInitializationType initializationType)
{
//prevent runaway calibration process
if (_calibration != null)
{
StopCoroutine(_calibration);
}
_calibration = StartCoroutine(FullCalibration(initializationType));
}
/// <summary>
/// Run UI
/// </summary>
/// <param name="initializationType"></param>
private IEnumerator FullCalibration(SlamInitializationType initializationType)
{
yield return(SensorInitialization());
SLAMUIManager slamInitManager = GetComponentInChildren <SLAMUIManager>();
yield return(slamInitManager.RunFullCalibration(initializationType));
// yield return StartCoroutine(canvas.FindCanvasOrigin());
yield return(null);
Cleanup();
}
private IEnumerator ShowUI(SlamInitializationType initializationType)
{
//Waiting for the interop to refresh slam data after reset.
yield return new WaitForSeconds(3f);
yield return new WaitUntil(() => _showCalibrationUI);
if (IsFinished)
{
yield break;
}
if (_slamUiPrefab != null)
{
_slamUI = Instantiate(_slamUiPrefab);
BaseSlamGuide slamGuide = _slamUI.GetComponent<BaseSlamGuide>();
slamGuide.StartTrackCalibrationSteps(initializationType);
}
else
{
Debug.LogError("Could not locate SLAM UI resource.");
}
}
private IEnumerator TrackCalibrationSteps(SlamInitializationType initializationType)
{
// waiting for the sensors
while (!_sensorsReady)
{
yield return(null);
}
// shows a message in case the user doesn't move in the beggining
_currentCalibrationStage = CalibrationStage.WaitingForTracking;
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
if (initializationType == SlamInitializationType.NewMap)
{
_currentCalibrationStage = CalibrationStage.Mapping;
// start timeout countdown
StartCoroutine(TimeOutCalibrationFail(SlamFailTimeOut));
}
else
{
_headOrientation.gameObject.SetActive(false);
_currentCalibrationStage = CalibrationStage.Remapping;
}
// show start message
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
int currentStep = 0;
while (true)
{
float coverage = _coverageAngle;
if (_calibrationSteps[currentStep] == CalibrationStep.RotateFurtherLeft ||
_calibrationSteps[currentStep] == CalibrationStep.RotateFurtherRight)
{
coverage *= _furtherAngleIncrease;
}
float angle;
// TODO change logic to consider _initialYOrientation after compositor implements different origin
if (_centerEye.rotation.eulerAngles.y > 180)
{
angle = Mathf.Clamp(_centerEye.rotation.eulerAngles.y - 360, -coverage, coverage);
}
else
{
angle = Mathf.Clamp(_centerEye.rotation.eulerAngles.y, -coverage, coverage);
}
_headOrientation.Rotation = (coverage - angle) / (coverage * 2);
// if calibration happens at any point
if (DetectCalibratedStage())
{
_currentCalibrationStage = CalibrationStage.Completed;
yield return(StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage)));
}
// if hold still stage is detected at any point
else if (DetectHoldStillStage() && _currentCalibrationStage != CalibrationStage.HoldStill)
{
_currentCalibrationStage = CalibrationStage.HoldStill;
_headOrientation.gameObject.SetActive(false);
StartCoroutine(TimeOutCalibrationFail(SlamHoldStillMaxTime));
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
}
// if goal for the current step is achieved
else if (ApproximatelyWithThreshold(_calibrationStepAngle[_calibrationSteps[currentStep]],
ConvertToPositiveAngle(_centerEye.rotation.eulerAngles.y)))
{
if (currentStep + 1 < _calibrationSteps.Length)
{
currentStep++;
StartCoroutine(_slamUI.ChangeUIStage(_currentCalibrationStage));
}
// steps finished
else
{
// if not initialized then fail
StartCoroutine(FailState());
}
}
yield return(null);
}
}
/// <summary>
/// Start tracking users steps to guide calibration
/// </summary>
/// <param name="initializationType"></param>
public override void StartTrackCalibrationSteps(SlamInitializationType initializationType)
{
_mainCoroutine = StartCoroutine(TrackCalibrationSteps(initializationType));
}
/// <summary> /// Start tracking users steps to guide calibration /// </summary> /// <param name="calibrationStage"></param> public abstract void StartTrackCalibrationSteps(SlamInitializationType calibrationStage);
