protected virtual void PlaneUpdatedHandler(BoundedPlane plane)
{
if (m_PlanePrefab)
{
CreateOrUpdateGameObject(plane);
}
}
protected void OnPlaneRemoved(BoundedPlane plane)
{
if (planeRemoved != null)
{
planeRemoved(plane);
}
}
private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
{
var extents = (tp.ExtentX != bp.extents.x || tp.ExtentZ != bp.extents.y);
var rotation = tp.Rotation != bp.rotation;
var position = tp.Position != bp.center;
return(extents || rotation || position);
}
private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
{
var extents = (!FloatCompare(tp.ExtentX, bp.extents.x) || !FloatCompare(tp.ExtentZ, bp.extents.y));
var rotation = tp.Rotation != bp.rotation;
var position = tp.Position != bp.center;
return(extents || rotation || position);
}
void ARInterface_PlaneAdded(UnityARInterface.BoundedPlane obj)
{
_lastHeight = obj.center.y;
IndoorMappingDemo.ApplicationUIManager.Instance.OnStateChanged(IndoorMappingDemo.ApplicationState.AR_Calibration);
ARInterface.planeAdded -= ARInterface_PlaneAdded;
Debug.Log("Plane Detected");
ARInterface.planeAdded -= ARInterface_PlaneAdded;
}
private bool PlaneUpdated(TrackedPlane tp, BoundedPlane bp)
{
var tpExtents = new Vector2(tp.ExtentX, tp.ExtentZ);
var extents = Vector2.Distance(tpExtents, bp.extents) > 0.005f;
var rotation = tp.Rotation != bp.rotation;
var position = Vector2.Distance(tp.Position, bp.center) > 0.005f;
return(extents || rotation || position);
}
private bool PlaneUpdated(DetectedPlane dp, BoundedPlane bp)
{
var dpExtents = new Vector2(dp.ExtentX, dp.ExtentZ);
var extents = Vector2.Distance(dpExtents, bp.extents) > 0.005f;
var rotation = dp.CenterPose.rotation != bp.rotation;
var position = Vector2.Distance(dp.CenterPose.position, bp.center) > 0.005f;
return(extents || rotation || position);
}
protected virtual void PlaneRemovedHandler(BoundedPlane plane)
{
GameObject go;
if (m_Planes.TryGetValue(plane.id, out go))
{
Destroy(go);
m_Planes.Remove(plane.id);
}
}
void UpdateARPlane(BoundedPlane arPlane)
{
if (_planeId == null)
{
_planeId = arPlane.id;
}
if (arPlane.id == _planeId)
{
_cachedARPlane = arPlane;
}
returnARPlane(_cachedARPlane);
}
protected virtual void CreateOrUpdateGameObject(BoundedPlane plane)
{
GameObject go;
if (!m_Planes.TryGetValue(plane.id, out go))
{
go = Instantiate(m_PlanePrefab, GetRoot());
// Make sure we can pick them later
foreach (var collider in go.GetComponentsInChildren <Collider>())
{
collider.gameObject.layer = m_PlaneLayer;
}
m_Planes.Add(plane.id, go);
}
go.transform.localPosition = plane.center;
go.transform.localRotation = plane.rotation;
go.transform.localScale = new Vector3(plane.extents.x, 1f, plane.extents.y);
}
public override IEnumerator StartService(Settings settings)
{
m_CameraPose = Pose.identity;
m_CameraPose.position.Set(0, 0, 0);
m_LastTime = Time.time;
m_State = State.Initialized;
m_FakePlanes = new BoundedPlane[2];
m_FakePlanes[0] = new BoundedPlane()
{
id = "0x1",
extents = new Vector2(2.2f, 2f),
//extents = new Vector2(1f, 1f),
rotation = Quaternion.AngleAxis(60f, Vector3.up),
center = new Vector3(2f, -1f, 3f)
//center = new Vector3(1f, 1f, 1f)
};
m_FakePlanes[1] = new BoundedPlane()
{
id = "0x2",
extents = new Vector2(2f, 2f),
rotation = Quaternion.AngleAxis(200f, Vector3.up),
center = new Vector3(3f, 1f, 3f)
};
m_PointCloud = new Vector3[20];
for (int i = 0; i < 20; ++i)
{
m_PointCloud[i] = new Vector3(
UnityEngine.Random.Range(-2f, 2f),
UnityEngine.Random.Range(-.5f, .5f),
UnityEngine.Random.Range(-2f, 2f));
}
IsRunning = true;
return(null);
}
public override void Update()
{
if (m_SessionManager == null)
{
return;
}
AsyncTask.OnUpdate();
if (Frame.TrackingState != TrackingState.Tracking)
{
return;
}
Frame.GetPlanes(m_TrackedPlaneBuffer);
foreach (var trackedPlane in m_TrackedPlaneBuffer)
{
BoundedPlane boundedPlane;
if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
{
// remove any subsumed planes
if (trackedPlane.SubsumedBy != null)
{
OnPlaneRemoved(boundedPlane);
m_TrackedPlanes.Remove(trackedPlane);
}
// update any planes with changed extents
else if (PlaneUpdated(trackedPlane, boundedPlane))
{
boundedPlane.center = trackedPlane.Position;
boundedPlane.rotation = trackedPlane.Rotation;
boundedPlane.extents.x = trackedPlane.ExtentX;
boundedPlane.extents.y = trackedPlane.ExtentZ;
OnPlaneUpdated(boundedPlane);
}
}
// add any new planes
else
{
boundedPlane = new BoundedPlane()
{
id = Guid.NewGuid().ToString(),
center = trackedPlane.Position,
rotation = trackedPlane.Rotation,
extents = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
};
m_TrackedPlanes.Add(trackedPlane, boundedPlane);
OnPlaneAdded(boundedPlane);
}
}
// Check for planes that were removed from the tracked plane list
List <TrackedPlane> planesToRemove = new List <TrackedPlane>();
foreach (var kvp in m_TrackedPlanes)
{
var trackedPlane = kvp.Key;
if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
{
OnPlaneRemoved(kvp.Value);
planesToRemove.Add(trackedPlane);
}
}
foreach (var plane in planesToRemove)
{
m_TrackedPlanes.Remove(plane);
}
}
public void PlaneRemovedHandler(BoundedPlane plane)
{
SerializableBoundedPlane serializedPlane = plane;
SendToEditor(ARMessageIds.removePlane, serializedPlane);
}
public override void Update()
{
if (m_ARCoreSession == null)
{
return;
}
AsyncTask.OnUpdate();
if (Session.Status != SessionStatus.Tracking)
{
return;
}
if (m_ARCoreSessionConfig.PlaneFindingMode != DetectedPlaneFindingMode.Disabled)
{
Session.GetTrackables <DetectedPlane>(m_TrackedPlaneBuffer, TrackableQueryFilter.All);
foreach (var trackedPlane in m_TrackedPlaneBuffer)
{
BoundedPlane boundedPlane;
if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
{
// remove any subsumed planes
if (trackedPlane.SubsumedBy != null)
{
OnPlaneRemoved(boundedPlane);
m_TrackedPlanes.Remove(trackedPlane);
}
// update any planes with changed extents
else if (PlaneUpdated(trackedPlane, boundedPlane))
{
boundedPlane.center = trackedPlane.CenterPose.position;
boundedPlane.rotation = trackedPlane.CenterPose.rotation;
boundedPlane.extents.x = trackedPlane.ExtentX;
boundedPlane.extents.y = trackedPlane.ExtentZ;
m_TrackedPlanes[trackedPlane] = boundedPlane;
OnPlaneUpdated(boundedPlane);
}
}
// add any new planes
else
{
boundedPlane = new BoundedPlane()
{
id = Guid.NewGuid().ToString(),
center = trackedPlane.CenterPose.position,
rotation = trackedPlane.CenterPose.rotation,
extents = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
};
m_TrackedPlanes.Add(trackedPlane, boundedPlane);
OnPlaneAdded(boundedPlane);
}
}
// Check for planes that were removed from the tracked plane list
List <DetectedPlane> planesToRemove = new List <DetectedPlane>();
foreach (var kvp in m_TrackedPlanes)
{
var trackedPlane = kvp.Key;
if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
{
OnPlaneRemoved(kvp.Value);
planesToRemove.Add(trackedPlane);
}
}
foreach (var plane in planesToRemove)
{
m_TrackedPlanes.Remove(plane);
}
}
//Update Anchors
foreach (var anchor in m_Anchors)
{
anchor.Key.transform.position = anchor.Value.transform.position;
anchor.Key.transform.rotation = anchor.Value.transform.rotation;
}
}
public override void Update()
{
SessionManager.Instance.EarlyUpdate();
if (Frame.TrackingState != FrameTrackingState.Tracking)
{
return;
}
Frame.GetAllPlanes(ref m_TrackedPlaneBuffer);
foreach (var trackedPlane in m_TrackedPlaneBuffer)
{
if (trackedPlane.IsUpdated)
{
BoundedPlane boundedPlane;
if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
{
if (trackedPlane.SubsumedBy == null)
{
OnPlaneUpdated(boundedPlane);
}
else
{
OnPlaneRemoved(boundedPlane);
m_TrackedPlanes.Remove(trackedPlane);
}
}
else
{
boundedPlane = new BoundedPlane()
{
id = Guid.NewGuid().ToString(),
center = trackedPlane.Position,
rotation = trackedPlane.Rotation,
extents = trackedPlane.Bounds
};
m_TrackedPlanes.Add(trackedPlane, boundedPlane);
OnPlaneAdded(boundedPlane);
}
}
}
// Check for planes that were removed from the tracked plane list
List <TrackedPlane> planesToRemove = new List <TrackedPlane>();
foreach (var kvp in m_TrackedPlanes)
{
var trackedPlane = kvp.Key;
if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
{
OnPlaneRemoved(kvp.Value);
// Add to list here to avoid mutating the dictionary
// while iterating over it.
planesToRemove.Add(trackedPlane);
}
}
foreach (var plane in planesToRemove)
{
m_TrackedPlanes.Remove(plane);
}
}
public override void Update()
{
if (m_ARCoreSession == null)
{
return;
}
AsyncTask.OnUpdate();
if (lastFrameTrackingState == SessionStatus.Tracking && Session.Status != SessionStatus.Tracking && !_trackingLostCountdownInProgress)
{
//Debounce - if we regain tracking within a second, just send it as a TrackingJumped event - less disruptive that completely losing tracking.
Mapbox.Unity.Utilities.Console.Instance.Log("Tracking lost (changed from " + lastFrameTrackingState + " to " + Session.Status + "), starting countdown timer", "yellow");
_trackingLostCountdownInProgress = true;
_trackingLostLastPose = Frame.Pose;
_trackingLostTime = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
}
if (Session.Status != lastFrameTrackingState && Session.Status == SessionStatus.Tracking)
{
if (!_trackingLostCountdownInProgress)
{
OnTrackingStarted(Frame.Pose);
}
else
{
//Regained tracking within a second, send a jump.
long timeNow = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
Mapbox.Unity.Utilities.Console.Instance.Log("Tracking recovered after " + (timeNow - _trackingLostTime) + "ms, sending a TrackingJump instead of TrackingLost & TrackingStart. ", "yellow");
OnTrackingJumped(Frame.Pose, lastFramePose);
_trackingLostCountdownInProgress = false;
_trackingLostLastPose = new Pose();
_trackingLostTime = 0;
}
}
if (lastFrameTrackingState == SessionStatus.Tracking && //Do not fire "OnTrackingJumped" on the first frame when tracking just started (OnTrackingStarted will fire instead, see above).
Session.Status == SessionStatus.Tracking &&
((Frame.Pose.position - lastFramePose.position).magnitude > 1 ||
Quaternion.Angle(Frame.Pose.rotation, lastFramePose.rotation) > 30)
)
{
Mapbox.Unity.Utilities.Console.Instance.Log(string.Format("Jump strength: position: {0}m, rotation: {1} degrees ", (Frame.Pose.position - lastFramePose.position).magnitude, Quaternion.Angle(Frame.Pose.rotation, lastFramePose.rotation)), "yellow");
OnTrackingJumped(Frame.Pose, lastFramePose);
}
//Check if trackingLost timer expired
if (Session.Status != SessionStatus.Tracking && _trackingLostCountdownInProgress)
{
long timeNow = DateTime.Now.Ticks / TimeSpan.TicksPerMillisecond;
if (timeNow - _trackingLostTime >= 1000)
{
Mapbox.Unity.Utilities.Console.Instance.Log("Tracking lost timer expired after " + (timeNow - _trackingLostTime) + "ms, sending TrackingLost", "yellow");
OnTrackingLost(_trackingLostLastPose);
_trackingLostCountdownInProgress = false;
_trackingLostLastPose = new Pose();
_trackingLostTime = 0;
}
}
//Save frameTrackingState so we can compare on next frame & detect changes.
lastFrameTrackingState = Session.Status;
if (Session.Status == SessionStatus.Tracking)
{
lastFramePose = Frame.Pose;
}
if (Session.Status != SessionStatus.Tracking)
{
return;
}
if (m_ARCoreSessionConfig.EnablePlaneFinding)
{
Session.GetTrackables <TrackedPlane>(m_TrackedPlaneBuffer, TrackableQueryFilter.All);
foreach (var trackedPlane in m_TrackedPlaneBuffer)
{
BoundedPlane boundedPlane;
if (m_TrackedPlanes.TryGetValue(trackedPlane, out boundedPlane))
{
// remove any subsumed planes
if (trackedPlane.SubsumedBy != null)
{
OnPlaneRemoved(boundedPlane);
m_TrackedPlanes.Remove(trackedPlane);
}
// update any planes with changed extents
else if (PlaneUpdated(trackedPlane, boundedPlane))
{
boundedPlane.center = trackedPlane.CenterPose.position;
boundedPlane.rotation = trackedPlane.CenterPose.rotation;
boundedPlane.extents.x = trackedPlane.ExtentX;
boundedPlane.extents.y = trackedPlane.ExtentZ;
m_TrackedPlanes[trackedPlane] = boundedPlane;
OnPlaneUpdated(boundedPlane);
}
}
// add any new planes
else
{
boundedPlane = new BoundedPlane()
{
id = Guid.NewGuid().ToString(),
center = trackedPlane.CenterPose.position,
rotation = trackedPlane.CenterPose.rotation,
extents = new Vector2(trackedPlane.ExtentX, trackedPlane.ExtentZ)
};
m_TrackedPlanes.Add(trackedPlane, boundedPlane);
OnPlaneAdded(boundedPlane);
}
}
// Check for planes that were removed from the tracked plane list
List <TrackedPlane> planesToRemove = new List <TrackedPlane>();
foreach (var kvp in m_TrackedPlanes)
{
var trackedPlane = kvp.Key;
if (!m_TrackedPlaneBuffer.Exists(x => x == trackedPlane))
{
OnPlaneRemoved(kvp.Value);
planesToRemove.Add(trackedPlane);
}
}
foreach (var plane in planesToRemove)
{
m_TrackedPlanes.Remove(plane);
}
}
//Update Anchors
foreach (var anchor in m_Anchors)
{
anchor.Key.transform.position = anchor.Value.transform.position;
anchor.Key.transform.rotation = anchor.Value.transform.rotation;
}
}
