public override bool Release()
{
if (!ViveSR.EnableUnityReconstruction)
{
return(false);
}
ViveSR_RigidReconstruction.StopScanning();
ViveSR_SceneUnderstanding.ResetParameter();
IsThreadRunning = false;
if (MeshDataThread != null)
{
MeshDataThread.Join();
MeshDataThread.Abort();
MeshDataThread = null;
}
if (IsCoroutineRunning == true)
{
StopCoroutine(MeshDataCoroutine);
MeshDataCoroutine = null;
}
ViveSR_RigidReconstruction.ReleaseAllocOutputDataMemory();
foreach (KeyValuePair <int, GameObject> data in ShowGameObjs)
{
int id = data.Key;
MeshDataVertices[id].Clear();
MeshDataIndices[id].Clear();
MeshDataColors[id].Clear();
MeshDataNormals[id].Clear();
}
OrderedList.Clear();
MeshDataVertices.Clear();
MeshDataIndices.Clear();
MeshDataColors.Clear();
MeshDataNormals.Clear();
HideAllLiveMeshes();
DestroyLiveMeshes();
ResetParameter();
return(true);
}
void Update()
{
UpdateWhileWorking();
if (EnableUnitySeeThrough)
{
SeeThrough.SRWork_SeeThrough.UpdateData();
}
// UpdateData will be called in ExtractMeshDataThread
// Also we don't need to get depth data
if (ViveSR_DualCameraImageRenderer.UpdateDepthMaterial)
{
Depth.SRWork_Depth.UpdateData();
}
if (EnableUnityDepthMesh)
{
if (DepthMesh.SRWork_Depth_Mesh.UpdateData())
{
((ViveSR_DualCameraDepthCollider)Modules[1]).ExtractMeshData();
}
}
if (EnableUnityReconstruction &&
!ViveSR_SceneUnderstanding.IsExportingSceneUnderstandingInfo &&
!ViveSR_RigidReconstruction.IsExportingMesh)
{
if (RigidReconstruction.SRWork_Rigid_Reconstruciton.UpdateData())
{
((ViveSR_RigidReconstructionRenderer)Modules[2]).ExtractMeshData();
}
}
if (ViveSR_RigidReconstruction.IsExportingMesh)
{
ViveSR_RigidReconstruction.UpdateExportProgress();
}
if (ViveSR_SceneUnderstanding.IsExportingSceneUnderstandingInfo)
{
ViveSR_SceneUnderstanding.UpdateSceneUnderstandingProgress();
}
}
// data pre-proc
static public bool ProcessDataAndGenColliderInfo(GameObject go)
{
// organize and category collider type
bool hasCollider = false;
MeshFilter[] mFilters = go.GetComponentsInChildren <MeshFilter>();
int numRnds = mFilters.Length;
for (int id = 0; id < numRnds; ++id)
{
ViveSR_StaticColliderInfo cldInfo = mFilters[id].gameObject.AddComponent <ViveSR_StaticColliderInfo>();
SceneUnderstandingObjectType semantic_type = ViveSR_SceneUnderstanding.GetSemanticTypeFromObjName(go.name);
cldInfo.SemanticType = semantic_type;
if (semantic_type != SceneUnderstandingObjectType.NONE)
{
string s_idx = go.name.Replace(ViveSR_SceneUnderstanding.SemanticTypeToString(semantic_type) + "_", "").Replace("_cld", "");
cldInfo.SceneObjectID = int.Parse(s_idx);
}
string meshName = mFilters[id].name;
string newName = "";
bool thisIsCLD = false;
if (meshName.Contains("PlaneConvexCollider"))
{
newName = "PlaneConvexCollider";
cldInfo.SetBit((int)ColliderShapeType.CONVEX_SHAPE);
thisIsCLD = true;
}
else if (meshName.Contains("PlaneBBCollider"))
{
newName = "PlaneBBCollider";
cldInfo.SetBit((int)ColliderShapeType.BOUND_RECT_SHAPE);
thisIsCLD = true;
}
else if (meshName.Contains("PlaneMeshCollider"))
{
newName = "PlaneMeshCollider";
cldInfo.SetBit((int)ColliderShapeType.MESH_SHAPE);
thisIsCLD = true;
}
if (meshName.Contains("Horizontal"))
{
cldInfo.SetBit((int)PlaneOrientation.HORIZONTAL);
}
else if (meshName.Contains("Vertical"))
{
cldInfo.SetBit((int)PlaneOrientation.VERTICAL);
}
else
{
cldInfo.SetBit((int)PlaneOrientation.OBLIQUE);
}
hasCollider = (hasCollider || thisIsCLD);
if (!thisIsCLD)
{
Component.DestroyImmediate(cldInfo);
}
else
{
// parse area
int areaStringStartIdx = meshName.LastIndexOf("Area_");
if (areaStringStartIdx != -1)
{
areaStringStartIdx = areaStringStartIdx + 5;
string curString = meshName.Substring(areaStringStartIdx);
int areaStringEndIdx = curString.IndexOf("_");
cldInfo.ApproxArea = float.Parse(curString.Substring(0, areaStringEndIdx));
}
else
{
cldInfo.SetBit((int)PlaneOrientation.FRAGMENT);
}
// parse normal
int normalStringStartIdx = meshName.LastIndexOf("Normal_");
if (normalStringStartIdx != -1)
{
normalStringStartIdx = normalStringStartIdx + 7;
string curString = meshName.Substring(normalStringStartIdx);
int normalXEndIdx = curString.IndexOf("_");
cldInfo.GroupNormal.x = float.Parse(curString.Substring(0, normalXEndIdx));
curString = curString.Substring(normalXEndIdx + 1);
int normalYEndIdx = curString.IndexOf("_");
cldInfo.GroupNormal.y = float.Parse(curString.Substring(0, normalYEndIdx));
curString = curString.Substring(normalYEndIdx + 1);
int normalZEndIdx = curString.IndexOf("_");
cldInfo.GroupNormal.z = float.Parse(curString.Substring(0, normalZEndIdx));
}
// parse right axis
int rightStringStartIdx = meshName.LastIndexOf("Right_");
if (rightStringStartIdx != -1)
{
rightStringStartIdx = rightStringStartIdx + 6;
string curString = meshName.Substring(rightStringStartIdx);
int rightXEndIdx = curString.IndexOf("_");
cldInfo.RectRightAxis.x = float.Parse(curString.Substring(0, rightXEndIdx));
curString = curString.Substring(rightXEndIdx + 1);
int rightYEndIdx = curString.IndexOf("_");
cldInfo.RectRightAxis.y = float.Parse(curString.Substring(0, rightYEndIdx));
curString = curString.Substring(rightYEndIdx + 1);
int rightZEndIdx = curString.IndexOf("_");
cldInfo.RectRightAxis.z = float.Parse(curString.Substring(0, rightZEndIdx));
}
// parse width height
int whStringStartIdx = meshName.LastIndexOf("WH_");
if (whStringStartIdx != -1)
{
whStringStartIdx = whStringStartIdx + 3;
string curString = meshName.Substring(whStringStartIdx);
int widthEndIdx = curString.IndexOf("_");
cldInfo.RectWidth = float.Parse(curString.Substring(0, widthEndIdx));
curString = curString.Substring(widthEndIdx + 1);
int heightEndIdx = curString.IndexOf("_");
cldInfo.RectHeight = float.Parse(curString.Substring(0, heightEndIdx));
}
// parse id
int idxStringStartIdx = meshName.LastIndexOf("_");
cldInfo.PlaneID = (int.Parse(meshName.Substring(idxStringStartIdx + 1)));
newName = newName + "_" + meshName.Substring(idxStringStartIdx + 1);
mFilters[id].gameObject.name = newName;
}
}
return(hasCollider);
}
private void SceneUnderstandingGUI()
{
GUIStyle StyleBold = new GUIStyle {
fontStyle = FontStyle.Bold
};
GUILayout.Label(new GUIContent("--Scene Understanding--"), StyleBold);
if (ViveSR_RigidReconstruction.IsScanning)
{
bool isSemanticEnabled = GUILayout.Toggle(ViveSR_SceneUnderstanding.IsEnabledSceneUnderstanding, "Enable Scene Understanding");
if (isSemanticEnabled != ViveSR_SceneUnderstanding.IsEnabledSceneUnderstanding)
{
ViveSR_SceneUnderstanding.EnableSceneUnderstanding(isSemanticEnabled);
}
bool isSemanticRefinementEnabled = GUILayout.Toggle(ViveSR_SceneUnderstanding.IsEnabledSceneUnderstandingRefinement, "Enable Scene Understanding Refinement");
if (isSemanticRefinementEnabled != ViveSR_SceneUnderstanding.IsEnabledSceneUnderstandingRefinement)
{
ViveSR_SceneUnderstanding.EnableSceneUnderstandingRefinement(isSemanticRefinementEnabled);
}
}
else
{
GUILayout.Label(new GUIContent("Please Start Reconstruction"), StyleBold);
}
if (ViveSR_SceneUnderstanding.IsEnabledSceneUnderstanding && ViveSR_RigidReconstruction.IsScanning)
{
GUILayout.Label(new GUIContent("--Scene Understanding Live Dispaly & Export--"), StyleBold);
bool isSemanticPreviewEnabled = GUILayout.Toggle(ViveSR_SceneUnderstanding.IsEnabledSceneUnderstandingView, "Enable Preview");
if (isSemanticPreviewEnabled != ViveSR_SceneUnderstanding.IsEnabledSceneUnderstandingView)
{
ViveSR_SceneUnderstanding.EnableSceneUnderstandingView(isSemanticPreviewEnabled);
}
int index = 0;
foreach (bool toggle in SceneObjectToggle)
{
bool _toggle = GUILayout.Toggle(toggle, "View/Export " + SceneObjectName[index]);
if (_toggle != toggle)
{
SceneObjectToggle[index] = _toggle;
switch (SceneObjectName[index])
{
case "Bed":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.BED, 5, _toggle);
break;
case "Ceiling":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.CEILING, 5, _toggle);
break;
case "Chair":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.CHAIR, 5, _toggle);
break;
case "Floor":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.FLOOR, 5, _toggle);
break;
case "Table":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.TABLE, 5, _toggle);
break;
case "Wall":
ViveSR_SceneUnderstanding.SetCustomSceneUnderstandingConfig((int)SceneUnderstandingObjectType.WALL, 5, _toggle);
break;
}
}
index++;
}
}
if (ViveSR_SceneUnderstanding.IsEnabledSceneUnderstanding && ViveSR_RigidReconstruction.IsScanning)
{
if (GUILayout.Button("Export SceneObjects (.xml)", GUILayout.ExpandWidth(false)))
{
ViveSR_SceneUnderstanding.ExportSceneUnderstandingInfo(SemanticObjDir);
}
}
GUILayout.Label(new GUIContent("--SceneObjects Operation--"), StyleBold);
if (GUILayout.Button("Load & Show SceneObjects BoundingBox", GUILayout.ExpandWidth(false)))
{
SemanticObjDirPath = ReconsSceneDir + SemanticObjDir;
ViveSR_SceneUnderstanding.ImportSceneObjects(SemanticObjDirPath);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.CHAIR, true, true);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.CEILING, true, true);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.FLOOR, true, true);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.WALL, true, true);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.BED, true, true);
ViveSR_SceneUnderstanding.ShowSemanticBoundingBoxAndIconWithType((int)SceneUnderstandingObjectType.TABLE, true, true);
}
if (GUILayout.Button("Destroy All SceneObjects BoundingBox", GUILayout.ExpandWidth(false)))
{
ViveSR_SceneUnderstanding.DestroySceneObjects();
}
}
