/// <summary>
/// Override of ILocalizer.
/// </summary>
public void UpdateLocalizer()
{
if (_slamInterop != null)
{
_slamInterop.TargetGO = _targetGO;
_slamInterop.Update(_fromCompositor);
if (_loadMapAtInitRequested && SensorsReady() )
{
LoadSlamMap(_loadMapName);
_loadMapAtInitRequested = false;
_waitForSlamLoadingCoroutine = StartCoroutine(WaitForSlamLoading());
}
_slamInterop.GetTrackingStatus(out _status);
ProcessSlamFeedback(_status, _lastStatus);
_lastStatus = _status;
if (_rotationOnlyTracking != _rotationOnlyTrackingPrevious)
{
if (_rotationOnlyTracking)
{
onSlamTrackingLost.Invoke();
}
else
{
onSlamTrackingRelocalized.Invoke();
}
ToggleRotationOnlyTracking();
_rotationOnlyTrackingPrevious = _rotationOnlyTracking;
}
}
}
private void ProcessSlamFeedback(SlamInterop.TrackingStatus thisFrame, SlamInterop.TrackingStatus previousFrame)
{
if (thisFrame.state == SlamInterop.TrackingStatus.State.INITIALIZING
&& previousFrame.state == SlamInterop.TrackingStatus.State.NOT_READY)
{
onSlamSensorsReady.Invoke();
}
if (thisFrame.state == SlamInterop.TrackingStatus.State.INITIALIZING
&& thisFrame.reason == SlamInterop.TrackingStatus.Reason.ESTIMATING_SCALE
&& previousFrame.state == SlamInterop.TrackingStatus.State.INITIALIZING
&& previousFrame.reason == SlamInterop.TrackingStatus.Reason.VISUAL_INIT)
{
onSlamMappingInProgress.Invoke(1.0f);
SetState(SlamInitializationState.Mapping);
}
if (thisFrame.state == SlamInterop.TrackingStatus.State.TRACKING
&& previousFrame.state == SlamInterop.TrackingStatus.State.INITIALIZING)
{
SetState(SlamInitializationState.Finished);
onSlamMappingComplete.Invoke();
}
if (thisFrame.state == SlamInterop.TrackingStatus.State.LIMITED_TRACKING
&& thisFrame.reason == SlamInterop.TrackingStatus.Reason.LOST
&& previousFrame.state == SlamInterop.TrackingStatus.State.TRACKING)
{
onSlamTrackingLost.Invoke();
}
if (thisFrame.state == SlamInterop.TrackingStatus.State.TRACKING
&& previousFrame.state == SlamInterop.TrackingStatus.State.LIMITED_TRACKING
&& previousFrame.reason == SlamInterop.TrackingStatus.Reason.LOST)
{
onSlamTrackingRelocalized.Invoke();
}
}
public void GetTrackingStatus(out SlamInterop.TrackingStatus feedback)
{
feedback = SlamInterop.GetTrackingStatus();
}
