//public void RenderHand(TangoPointCloud pointCloud)
//{
// List<int> indices = new List<int>();
// List<points> closePoints = new List<points>();
// int idx = 0;
// for (int i=0; i<pointCloud.m_pointsCount; i++)
// {
// if (Vector3.Distance(pointCloud.m_points[i], camera.transform.position) > 0.7f)
// continue;
// points newPoint = new points(pointCloud.m_points[i] , 0);
// closePoints.Add(newPoint);
// indices.Add(idx);
// idx++;
// }
// int currId = 1;
// int numPoints = cluster(closePoints, closePoints[0], 0, currId);
// Debug.Log(numPoints);
// List<Vector3> temp = new List<Vector3>();
// indices.Clear();
// idx = 0;
// foreach (points point in closePoints)
// {
// //renderer.material.SetColor("_Color", Color.red);
// if (point.classId == 1)
// {
// temp.Add(point.position);
// indices.Add(idx);
// idx++;
// }
// }
// mesh.Clear();
// mesh.vertices = temp.ToArray();
// mesh.SetIndices(indices.ToArray(), MeshTopology.Points, 0);
//}
public void RenderHand(TangoPointCloud pointCloud)
{
if (firstTime)
{
firstTime = false;
//StartCoroutine(SpawnBlock());
}
List <int> closePoints = new List <int>();
List <Vector3> closePointPos = new List <Vector3>();
List <int> indices = new List <int>();
int idx = 0;
for (int i = 0; i < pointCloud.m_pointsCount; i++)
{
if (Vector3.Distance(pointCloud.m_points [i], camera.transform.position) > 1f)
{
continue;
}
closePoints.Add(i);
indices.Add(idx);
idx++;
closePointPos.Add(pointCloud.m_points [i]);
}
numPoints = idx;
mesh.Clear();
if (numPoints < HAND_POINT_THRESH)
{
isHandVisible = false;
handObject.SetActive(false);
return;
}
else
{
isHandVisible = true;
handObject.SetActive(true);
}
Vector3 centroid = pointCloud.GetAverageFromFilteredPoints(closePoints);
//mesh.vertices = closePointPos.ToArray();
//mesh.SetIndices(indices.ToArray(), MeshTopology.Points, 0);
if (handQueue.Count > 3)
{
handQueue.Dequeue();
}
handQueue.Enqueue(centroid);
Vector3 acc = new Vector3(0, 0, 0);
Vector3[] handArray = handQueue.ToArray();
for (int i = 0; i < handQueue.Count; i++)
{
acc += handArray [i];
}
acc /= handQueue.Count;
initialHandObjPos = finalHandObjPos;
Vector3 snappedPos = VoxelExtractionPointCloud.Instance.FromGrid(VoxelExtractionPointCloud.Instance.ToGrid(acc));
//for (int i = 0; i < VoxelConsts.PT_THRES; i++ )
// VoxelExtractionPointCloud.Instance.grid.setVoxel(VoxelExtractionPointCloud.Instance.ToGrid(acc));
//Debug.Log(snappedPos.x + " " + snappedPos.y + " " + snappedPos.z);
finalHandObjPos = acc + new Vector3(0.5f, 0.5f, 0.5f);
if (initialHandObjPos != finalHandObjPos)
{
StartCoroutine("MoveHand");
}
//handObject.transform.position = finalHandObjPos;
}
