diff --git a/.idea/.idea.hse-ar-scanner/.idea/indexLayout.xml b/.idea/.idea.hse-ar-scanner/.idea/indexLayout.xml
index 4ab2dbead55c0f061d587baee8d0da1cfb2173fb..31fefb2377ad9093fd1d9c0cf8e93c0321883312 100644
--- a/.idea/.idea.hse-ar-scanner/.idea/indexLayout.xml
+++ b/.idea/.idea.hse-ar-scanner/.idea/indexLayout.xml
@@ -1,31 +1,31 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
- <component name="ContentModelUserStore">
- <attachedFolders />
- <explicitIncludes>
- <Path>Library/PackageCache/com.unity.collab-proxy@1.2.16</Path>
- <Path>Library/PackageCache/com.unity.ext.nunit@1.0.6</Path>
- <Path>Library/PackageCache/com.unity.ide.rider@1.1.4</Path>
- <Path>Library/PackageCache/com.unity.ide.vscode@1.2.3</Path>
- <Path>Library/PackageCache/com.unity.multiplayer-hlapi@1.0.8</Path>
- <Path>Library/PackageCache/com.unity.subsystemregistration@1.0.6</Path>
- <Path>Library/PackageCache/com.unity.test-framework@1.1.22</Path>
- <Path>Library/PackageCache/com.unity.textmeshpro@2.0.1</Path>
- <Path>Library/PackageCache/com.unity.timeline@1.2.18</Path>
- <Path>Library/PackageCache/com.unity.xr.legacyinputhelpers@2.1.7</Path>
- <Path>Library/PackageCache/com.unity.xr.management@3.2.17</Path>
- <Path>Library/PackageCache/nuget.mono-cecil@0.1.6-preview</Path>
- <Path>Packages</Path>
- <Path>ProjectSettings</Path>
- </explicitIncludes>
- <explicitExcludes>
- <Path>.git</Path>
- <Path>.idea</Path>
- <Path>Builds</Path>
- <Path>Library</Path>
- <Path>Logs</Path>
- <Path>Temp</Path>
- <Path>obj</Path>
- </explicitExcludes>
- </component>
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+ <component name="ContentModelUserStore">
+ <attachedFolders />
+ <explicitIncludes>
+ <Path>Library/PackageCache/com.unity.collab-proxy@1.2.16</Path>
+ <Path>Library/PackageCache/com.unity.ext.nunit@1.0.6</Path>
+ <Path>Library/PackageCache/com.unity.ide.rider@1.1.4</Path>
+ <Path>Library/PackageCache/com.unity.ide.vscode@1.2.3</Path>
+ <Path>Library/PackageCache/com.unity.multiplayer-hlapi@1.0.8</Path>
+ <Path>Library/PackageCache/com.unity.subsystemregistration@1.0.6</Path>
+ <Path>Library/PackageCache/com.unity.test-framework@1.1.22</Path>
+ <Path>Library/PackageCache/com.unity.textmeshpro@2.0.1</Path>
+ <Path>Library/PackageCache/com.unity.timeline@1.2.18</Path>
+ <Path>Library/PackageCache/com.unity.xr.legacyinputhelpers@2.1.7</Path>
+ <Path>Library/PackageCache/com.unity.xr.management@3.2.17</Path>
+ <Path>Library/PackageCache/nuget.mono-cecil@0.1.6-preview</Path>
+ <Path>Packages</Path>
+ <Path>ProjectSettings</Path>
+ </explicitIncludes>
+ <explicitExcludes>
+ <Path>.git</Path>
+ <Path>.idea</Path>
+ <Path>Builds</Path>
+ <Path>Library</Path>
+ <Path>Logs</Path>
+ <Path>Temp</Path>
+ <Path>obj</Path>
+ </explicitExcludes>
+ </component>
</project>
\ No newline at end of file
diff --git a/Assets/FpsCounter.cs b/Assets/FpsCounter.cs
new file mode 100644
index 0000000000000000000000000000000000000000..1eb1f7f835d3b970c12131c7ab451b11bf32e22b
--- /dev/null
+++ b/Assets/FpsCounter.cs
@@ -0,0 +1,30 @@
+п»їusing System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class FpsCounter : MonoBehaviour
+{
+ float deltaTime = 0.0f;
+
+ void Update()
+ {
+ deltaTime += (Time.unscaledDeltaTime - deltaTime) * 0.1f;
+ }
+
+ void OnGUI()
+ {
+ int w = Screen.width, h = Screen.height;
+
+ GUIStyle style = new GUIStyle();
+
+ Rect rect = new Rect(0, 0, w, h * 2 / 100);
+ style.alignment = TextAnchor.UpperLeft;
+ style.fontSize = h * 2 / 100;
+ style.normal.textColor = new Color (0.0f, 0.0f, 0.5f, 1.0f);
+ float msec = deltaTime * 1000.0f;
+ float fps = 1.0f / deltaTime;
+ string text = string.Format("{0:0.0} ms ({1:0.} fps)", msec, fps);
+ GUI.Label(rect, text, style);
+ }
+}
\ No newline at end of file
diff --git a/Assets/FpsCounter.cs.meta b/Assets/FpsCounter.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..1eaabefb694f2ffa28ff11fbcda983aac184ebde
--- /dev/null
+++ b/Assets/FpsCounter.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 905a87ab2b3c59f4abeebb4b006fe010
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Assets/Resources/Materials/Pc.mat b/Assets/Resources/Materials/Pc.mat
index e1f848ea5c05e7b25067bf2238e01eccf94f0a67..bc997af5a69fec5caece0b97b0ef827f159609cc 100644
--- a/Assets/Resources/Materials/Pc.mat
+++ b/Assets/Resources/Materials/Pc.mat
@@ -8,21 +8,21 @@ Material:
m_PrefabInstance: {fileID: 0}
m_PrefabAsset: {fileID: 0}
m_Name: Pc
- m_Shader: {fileID: 210, guid: 0000000000000000f000000000000000, type: 0}
- m_ShaderKeywords: _ALPHABLEND_ON _COLORADDSUBDIFF_ON _NORMALMAP
+ m_Shader: {fileID: 211, guid: 0000000000000000f000000000000000, type: 0}
+ m_ShaderKeywords: _ALPHATEST_ON _COLORCOLOR_ON
m_LightmapFlags: 0
m_EnableInstancingVariants: 0
m_DoubleSidedGI: 0
- m_CustomRenderQueue: 3000
+ m_CustomRenderQueue: 2450
stringTagMap:
- RenderType: Transparent
+ RenderType: TransparentCutout
disabledShaderPasses:
- ALWAYS
m_SavedProperties:
serializedVersion: 3
m_TexEnvs:
- _BumpMap:
- m_Texture: {fileID: 2800000, guid: 6b07f0d5b24b9b1468ca57a02e7f96d5, type: 3}
+ m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _DetailAlbedoMap:
@@ -42,7 +42,7 @@ Material:
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _MainTex:
- m_Texture: {fileID: 10912, guid: 0000000000000000f000000000000000, type: 0}
+ m_Texture: {fileID: 10300, guid: 0000000000000000f000000000000000, type: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _MetallicGlossMap:
@@ -63,7 +63,7 @@ Material:
- _CameraFadingEnabled: 0
- _CameraFarFadeDistance: 2
- _CameraNearFadeDistance: 1
- - _ColorMode: 1
+ - _ColorMode: 4
- _Cull: 2
- _Cutoff: 0.677
- _DetailNormalMapScale: 1
@@ -71,15 +71,15 @@ Material:
- _DistortionEnabled: 0
- _DistortionStrength: -171.02
- _DistortionStrengthScaled: -17.102001
- - _DstBlend: 10
+ - _DstBlend: 0
- _EmissionEnabled: 0
- _FlipbookMode: 0
- _GlossMapScale: 1
- _Glossiness: 0.2
- _GlossyReflections: 1
- - _LightingEnabled: 1
+ - _LightingEnabled: 0
- _Metallic: 0
- - _Mode: 2
+ - _Mode: 1
- _OcclusionStrength: 1
- _Parallax: 0.02
- _SmoothnessTextureChannel: 0
@@ -87,12 +87,12 @@ Material:
- _SoftParticlesFarFadeDistance: 1
- _SoftParticlesNearFadeDistance: 0
- _SpecularHighlights: 1
- - _SrcBlend: 5
+ - _SrcBlend: 1
- _UVSec: 0
- - _ZWrite: 0
+ - _ZWrite: 1
m_Colors:
- _CameraFadeParams: {r: 0, g: Infinity, b: 0, a: 0}
- - _Color: {r: 0.865, g: 0.865, b: 0.865, a: 1}
+ - _Color: {r: 0.9433962, g: 0.9433962, b: 0.9433962, a: 1}
- _ColorAddSubDiff: {r: 1, g: 0, b: 0, a: 0}
- _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
- _SoftParticleFadeParams: {r: 0, g: 0, b: 0, a: 0}
diff --git a/Assets/Resources/Prefabs/PointCloudParticles.prefab b/Assets/Resources/Prefabs/PointCloudParticles.prefab
index f8ae460033e43e9a4bf24dac1cce15968b2be8e8..392cf149c347bfe54d66468bb01a4b1ac3ccbb62 100644
--- a/Assets/Resources/Prefabs/PointCloudParticles.prefab
+++ b/Assets/Resources/Prefabs/PointCloudParticles.prefab
@@ -4748,7 +4748,7 @@ ParticleSystemRenderer:
m_EnableGPUInstancing: 1
m_ApplyActiveColorSpace: 1
m_AllowRoll: 1
- m_VertexStreams: 0001030402
+ m_VertexStreams: 000304
m_Mesh: {fileID: 0}
m_Mesh1: {fileID: 0}
m_Mesh2: {fileID: 0}
diff --git a/Assets/Resources/Scenes/RawARCorePointCloudRetriever.unity b/Assets/Resources/Scenes/RawARCorePointCloudRetriever.unity
index e0631693a160b60ee806c6f12792b19e7710764b..d76c82a9e66324ec04690406fa04e556e1ad9954 100644
--- a/Assets/Resources/Scenes/RawARCorePointCloudRetriever.unity
+++ b/Assets/Resources/Scenes/RawARCorePointCloudRetriever.unity
@@ -388,12 +388,11 @@ MonoBehaviour:
m_EditorClassIdentifier:
pointCloud: {fileID: 1157256428}
maxSqrDistance: 25
- minConfidence: 0.6875
+ minConfidence: 0.6885
continueCollectingPoints: 0
progressBar: {fileID: 553464322}
progressText: {fileID: 665878184}
defaultColor: {r: 0.97462785, g: 1, b: 0.27058828, a: 1}
- weldColor: {r: 0.3529412, g: 0.9372549, b: 0.44705883, a: 1}
Buttons:
- {fileID: 1191312876}
- {fileID: 1458103011}
@@ -401,6 +400,7 @@ MonoBehaviour:
RenderDistance: 5
MaxRenderDistance: 6
RenderSlider: {fileID: 1891182249}
+ weldDistance: 0.025
--- !u!4 &125579805
Transform:
m_ObjectHideFlags: 0
@@ -409,7 +409,7 @@ Transform:
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 125579803}
m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
- m_LocalPosition: {x: 0.90831095, y: -3.264731, z: 14.116892}
+ m_LocalPosition: {x: 0, y: 0, z: 0}
m_LocalScale: {x: 1, y: 1, z: 1}
m_Children:
- {fileID: 1706220893}
@@ -1068,6 +1068,49 @@ CanvasRenderer:
m_PrefabAsset: {fileID: 0}
m_GameObject: {fileID: 519045787}
m_CullTransparentMesh: 0
+--- !u!1 &522305924
+GameObject:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ serializedVersion: 6
+ m_Component:
+ - component: {fileID: 522305926}
+ - component: {fileID: 522305925}
+ m_Layer: 0
+ m_Name: Fps
+ m_TagString: Untagged
+ m_Icon: {fileID: 0}
+ m_NavMeshLayer: 0
+ m_StaticEditorFlags: 0
+ m_IsActive: 1
+--- !u!114 &522305925
+MonoBehaviour:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 522305924}
+ m_Enabled: 1
+ m_EditorHideFlags: 0
+ m_Script: {fileID: 11500000, guid: 905a87ab2b3c59f4abeebb4b006fe010, type: 3}
+ m_Name:
+ m_EditorClassIdentifier:
+--- !u!4 &522305926
+Transform:
+ m_ObjectHideFlags: 0
+ m_CorrespondingSourceObject: {fileID: 0}
+ m_PrefabInstance: {fileID: 0}
+ m_PrefabAsset: {fileID: 0}
+ m_GameObject: {fileID: 522305924}
+ m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+ m_LocalPosition: {x: 0.17662245, y: -3.132567, z: -5.5776186}
+ m_LocalScale: {x: 1, y: 1, z: 1}
+ m_Children: []
+ m_Father: {fileID: 0}
+ m_RootOrder: 12
+ m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
--- !u!1 &553464321
GameObject:
m_ObjectHideFlags: 0
@@ -2819,6 +2862,11 @@ PrefabInstance:
propertyPath: playOnAwake
value: 0
objectReference: {fileID: 0}
+ - target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
+ type: 3}
+ propertyPath: ringBufferMode
+ value: 1
+ objectReference: {fileID: 0}
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: TrailModule.mode
@@ -2827,7 +2875,7 @@ PrefabInstance:
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: moveWithTransform
- value: 1
+ value: 0
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
@@ -2844,10 +2892,15 @@ PrefabInstance:
propertyPath: SizeModule.curve.scalar
value: 2
objectReference: {fileID: 0}
+ - target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
+ type: 3}
+ propertyPath: InitialModule.maxNumParticles
+ value: 300000
+ objectReference: {fileID: 0}
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: InitialModule.startSize.scalar
- value: 0.01875
+ value: 0.02
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
@@ -2857,7 +2910,7 @@ PrefabInstance:
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: InitialModule.startLifetime.scalar
- value: 3600
+ value: 1800
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607645, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
@@ -2957,17 +3010,22 @@ PrefabInstance:
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_RenderMode
- value: 4
+ value: 0
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_CastShadows
value: 0
objectReference: {fileID: 0}
+ - target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
+ type: 3}
+ propertyPath: m_MaskInteraction
+ value: 0
+ objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_RenderAlignment
- value: 2
+ value: 0
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
@@ -2983,21 +3041,21 @@ PrefabInstance:
type: 3}
propertyPath: m_Materials.Array.data[0]
value:
- objectReference: {fileID: 2100000, guid: 21228ec852575b74ea71fcaff5bf72cf, type: 2}
+ objectReference: {fileID: 2100000, guid: 43243cadedf4c2d4ea2e9fce4c5c6593, type: 2}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_VertexStreams.Array.size
- value: 5
+ value: 3
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_VertexStreams.Array.data[1]
- value: 1
+ value: 3
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_VertexStreams.Array.data[2]
- value: 3
+ value: 4
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
@@ -3007,7 +3065,7 @@ PrefabInstance:
- target: {fileID: 1859515531890607646, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
propertyPath: m_VertexStreams.Array.data[4]
- value: 9
+ value: 2
objectReference: {fileID: 0}
- target: {fileID: 1859515531890607647, guid: 9b64b381f7cb3be4a9f2dcf1483252b5,
type: 3}
diff --git a/Assets/Resources/Scripts/MyPointCloudVisualizer.cs b/Assets/Resources/Scripts/MyPointCloudVisualizer.cs
index bf80d34d4fb9bec06f31ff962701537b08dd5302..c456cd62f35cda613a2d2e7ce522ff6e842052f7 100644
--- a/Assets/Resources/Scripts/MyPointCloudVisualizer.cs
+++ b/Assets/Resources/Scripts/MyPointCloudVisualizer.cs
@@ -1,386 +1,457 @@
-п»їusing System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using System.Linq;
-using DataStructures.ViliWonka.KDTree;
-using GoogleARCore;
-using UnityEngine;
-using UnityEngine.UI;
-using Random = UnityEngine.Random;
-
-public class MyPointCloudVisualizer : MonoBehaviour
-{
- public ParticleSystem pointCloud;
- [Space(10)] public float maxSqrDistance = 25f;
- private float maxDistance;
-
- public float minConfidence = 0.625f;
- // public float minConfidence = 0.55f;
- // public float softConfidence = 0.65f;
-
- private Transform currentCamTransform;
-
- private ParticleSystem.EmitParams emitParams;
- private ParticleSystem.EmitParams emitParamsWelded;
-
- private List<Vector3> points;
-
- public List<Vector3> Points => points;
- private KDTree _kdTree = new KDTree();
- private KDQuery _query = new KDQuery();
-
- private int minPointsCount = 4600;
- private float minBoundingBoxVolume = 90f;
-
- private Vector3 minPoint;
- private Vector3 maxPoint;
-
- public bool continueCollectingPoints = false;
-
-
- [Space(10)] public RectTransform progressBar;
- private float defaultProgressBarScale;
- public Text progressText;
-
- [Space(10)] public Color defaultColor = new Color32(249, 255, 69, 255);
- public Color weldColor = new Color32(90, 239, 114, 255);
-
- [Space(10)] public List<Button> Buttons;
-
- private bool lastConditiondsState = false;
- private float notificationDelay = 4;
- private float lastNotificationTime = 0f;
- public bool CanFinish = true;
- public float RenderDistance = 5f;
- public float MaxRenderDistance = 6f;
- public Slider RenderSlider;
-
- // Start is called before the first frame update
- void Start()
- {
- points = new List<Vector3>();
- emitParams = new ParticleSystem.EmitParams();
- emitParams.startColor = defaultColor;
-
- emitParamsWelded = new ParticleSystem.EmitParams();
- emitParamsWelded.startColor = weldColor;
- emitParamsWelded.startSize = 0.015f;
-
- defaultProgressBarScale = progressBar.localScale.x;
- //defaultColor = new Color32(emitParams.startColor.r, emitParams.startColor.g, emitParams.startColor.b, emitParams.startColor.a);
-
- minPoint = Vector3.positiveInfinity;
- maxPoint = Vector3.negativeInfinity;
-
- maxDistance = Mathf.Sqrt(maxSqrDistance);
-
- foreach (var button in Buttons)
- {
- button.interactable = false;
- }
-
- lastNotificationTime = Time.time;
- currentCamTransform = Camera.main.transform;
-
- RenderSlider.minValue = 0.5f;
- RenderSlider.maxValue = MaxRenderDistance;
- RenderSlider.value = RenderDistance;
-
-
- StartCoroutine(DelayedStart());
- }
-
- public void UpdateRenderDistance(float newVal)
- {
- RenderDistance = newVal;
- }
-
- private IEnumerator DelayedStart(float delay = 0.05f)
- {
- continueCollectingPoints = false;
- yield return new WaitForSeconds(delay);
- continueCollectingPoints = true;
- StartCoroutine(WeldRoutine());
- }
-
- // Update is called once per frame
- void Update()
- {
- if (!continueCollectingPoints)
- return;
- if (Frame.PointCloud.IsUpdatedThisFrame)
- {
- for (int i = 0; i < Frame.PointCloud.PointCount; i++)
- {
- var point = Frame.PointCloud.GetPointAsStruct(i);
- if (point.Confidence < minConfidence) continue;
- // if (point.Confidence < softConfidence && Random.Range(0f, 1f) < 0.25f) continue;
-
- var distance = (currentCamTransform.position - point.Position).sqrMagnitude;
- if (distance > maxSqrDistance) continue;
-
- emitParams.position = point.Position;
- pointCloud.Emit(emitParams, 1);
- points.Add(point.Position);
- if (!(Random.Range(0f, 1f) < 0.2f)) continue;
- if (point.Position.x < minPoint.x)
- minPoint.x = point.Position.x;
- if (point.Position.y < minPoint.y)
- minPoint.y = point.Position.y;
- if (point.Position.z < minPoint.z)
- minPoint.z = point.Position.z;
-
- if (point.Position.x > maxPoint.x)
- maxPoint.x = point.Position.x;
- if (point.Position.y > maxPoint.y)
- maxPoint.y = point.Position.y;
- if (point.Position.z > maxPoint.z)
- maxPoint.z = point.Position.z;
- }
- }
-
- var currentConditionsState = CheckFinishConditionsSatisfied();
- // сохранение и отправка
- if (currentConditionsState)
- {
- if (currentConditionsState != lastConditiondsState)
- {
- var curTime = Time.time;
- if (curTime - lastNotificationTime > notificationDelay)
- {
- lastNotificationTime = curTime;
- NotificationManager.instance.CreateNotification(
- "Собрано достаточно точек - можно продолжать сканирование или отправить их на сервер");
- }
- }
-
- foreach (var button in Buttons)
- {
- button.interactable = true;
- }
- }
- else
- {
- foreach (var button in Buttons)
- {
- button.interactable = false;
- }
- }
-
- lastConditiondsState = currentConditionsState;
-
- UpdateUI();
- }
-
- private bool CheckFinishConditionsSatisfied()
- {
- return CanFinish && CheckBoundingBox() && points.Count >= minPointsCount;
- }
-
- private float CalculateCurrentBoundingBoxVolume()
- {
-// print($"{minPoint}, {maxPoint}");
- var diag = maxPoint - minPoint;
- return Mathf.Abs(diag.x * diag.y * diag.z);
- }
-
- private bool CheckBoundingBox()
- {
- return CalculateCurrentBoundingBoxVolume() >= minBoundingBoxVolume;
- }
-
- private IEnumerator WeldRoutine(float maxRadius = 0.01125f, float uniformPart = 0.4f, int maxSamples = 400, int maxSamplesPerFrame = 150)
- {
- var extendedMaxSamplesPerFrame = maxSamplesPerFrame * 2;
- var counter = 0;
- List<int> nearestPointsInd = new List<int>();
- List<int> results = new List<int>();
- List<int> samples = new List<int>();
- var weldMask = new List<bool>(points.Count);
- while (true)
- {
- if (!gameObject.activeInHierarchy ||
- points.Count == 0 ||
- uniformPart <= 0f)
- yield return null;
-
- _kdTree.Build(points, 32);
- nearestPointsInd.Clear();
- _query.Radius(_kdTree, currentCamTransform.position, maxDistance + 0.1f, nearestPointsInd);
-
- samples.Clear();
-
- var numSamples = (int) (nearestPointsInd.Count * uniformPart) + 1;
- numSamples = Math.Min(numSamples, maxSamples);
- var probNum = numSamples;
-
- for (var i = 0; i < nearestPointsInd.Count; i++)
- {
- var probability = probNum * 1.0f / nearestPointsInd.Count;
- if (Random.Range(0f, 1f) < probability)
- {
- probNum -= 1;
- samples.Add(nearestPointsInd[i]);
- }
-
- if (samples.Count > numSamples * 1.2f)
- break;
- }
- yield return null;
-
- weldMask.Clear();
- for (int i = 0; i < points.Count; i++)
- {
- counter++;
- weldMask.Add(false);
- if (counter > extendedMaxSamplesPerFrame)
- {
- yield return null;
- counter = 0;
- }
- }
-
-
- results.Clear();
- foreach (var sampleInd in samples)
- {
- counter++;
- var point = points[sampleInd];
- _query.Radius(_kdTree, point, maxRadius*0.9f, results);
- // yield return null;
- if (results.Count > 1) // 1 is point itself; 2 is neighbour
- weldMask[sampleInd] = true;
- results.Clear();
- if (counter > maxSamplesPerFrame)
- {
- yield return null;
- counter = 0;
- }
- }
-
-
- for (int i = weldMask.Count - 1; i > -1; i--)
- {
- counter++;
- // print($"i:{i}, mask_len:{weldMask.Count}");
- if (weldMask[i])
- {
- points.RemoveAt(i);
- }
- if (counter > maxSamplesPerFrame)
- {
- yield return null;
- counter = 0;
- }
- }
- results.Clear();
- _kdTree.Build(points);
- _query.Radius(_kdTree, currentCamTransform.position, RenderDistance, results);
-
- pointCloud.Clear();
- foreach (var pointInd in results)
- {
- if (Random.Range(0.0f, 1.0f) < 0.75)
- {
- continue;
- }
- counter++;
- emitParamsWelded.position = points[pointInd];
- pointCloud.Emit(emitParamsWelded, 1);
- if (counter > extendedMaxSamplesPerFrame)
- {
- yield return null;
- counter = 0;
- }
- }
- results.Clear();
- yield return null;
- }
- }
-
- private void WeldPoints(float maxRadius = 0.015f, float uniformPart = 0.45f, int maxSamples = 1200)
- {
- if (points.Count == 0 ||
- uniformPart <= 0f)
- {
- return;
- }
-
- var oldCount = points.Count;
- _kdTree.Build(points);
-
-
- List<int> nearestPointsInd = new List<int>();
- _query.Radius(_kdTree, currentCamTransform.position, maxDistance + 0.1f, nearestPointsInd);
-
-
- List<int> results = new List<int>();
- List<int> samples = new List<int>();
- var numSamples = (int) (nearestPointsInd.Count * uniformPart) + 1;
- numSamples = Math.Min(numSamples, maxSamples);
- var probNum = numSamples;
- for (var i = 0; i < nearestPointsInd.Count; i++)
- {
- var probability = probNum * 1.0f / nearestPointsInd.Count;
- if (Random.Range(0f, 1f) < probability)
- {
- probNum -= 1;
- samples.Add(nearestPointsInd[i]);
- }
-
- if (samples.Count > numSamples * 1.2f)
- break;
- }
-
- print(samples.Count);
-
- var weldMask = new List<bool>(points.Count);
- for (int i = 0; i < points.Count; i++)
- weldMask.Add(false);
-
- foreach (var sampleInd in samples)
- {
- var point = points[sampleInd];
- _query.Radius(_kdTree, point, maxRadius*0.9f, results);
- if (results.Count > 1) // 1 is point itself; 2 is neighbour
- weldMask[sampleInd] = true;
- results.Clear();
- }
-
-
- pointCloud.Clear();
- for (int i = points.Count - 1; i > -1; i--)
- {
- if (weldMask[i])
- {
- points.RemoveAt(i);
- }
- }
- results.Clear();
- _kdTree.Build(points);
- _query.Radius(_kdTree, currentCamTransform.position, maxDistance, results);
- foreach (var pointInd in results)
- {
- emitParamsWelded.position = points[pointInd];
- pointCloud.Emit(emitParamsWelded, 1);
- }
-
- // NotificationManager.instance.CreateNotification($"Удалено {points.Count - oldCount} похожих точек\n" +
- // $"Отображено {results.Count}/{points.Count}", 2f);
- }
-
-
- private void UpdateUI()
- {
- var pointsRatio = Mathf.Clamp01(1f * points.Count / minPointsCount);
- var bbVol = CalculateCurrentBoundingBoxVolume();
- var volumeRatio = Mathf.Clamp01(bbVol / minBoundingBoxVolume);
-
- var ratio = (pointsRatio + volumeRatio) / 2f;
-
- progressBar.localScale = new Vector3(ratio, 1f, 1f);
- progressText.text =
- $"{points.Count}/{minPointsCount} points | {Math.Round(bbVol, 1)}/{minBoundingBoxVolume} m3";
- }
+п»їusing System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using DataStructures.ViliWonka.KDTree;
+using GoogleARCore;
+using UnityEngine;
+using UnityEngine.UI;
+using Random = UnityEngine.Random;
+
+public class MyPointCloudVisualizer : MonoBehaviour
+{
+ public ParticleSystem pointCloud;
+ [Space(10)] public float maxSqrDistance = 25f;
+ private float maxDistance;
+
+ public float minConfidence = 0.625f;
+ // public float minConfidence = 0.55f;
+ // public float softConfidence = 0.65f;
+
+ private Transform currentCamTransform;
+
+ private ParticleSystem.EmitParams emitParams;
+
+ private KDTree globalPoints = new KDTree();
+ private KDTree localPoints = new KDTree();
+ private KDQuery interQuery = new KDQuery();
+
+ private List<Vector3> pointsToAdd;
+
+ //private List<Vector3> points;
+
+ public List<Vector3> Points => new List<Vector3>(globalPoints.Points);
+
+ private int minPointsCount = 4600;
+ private float minBoundingBoxVolume = 90f;
+
+ private Vector3 minPoint;
+ private Vector3 maxPoint;
+ private Vector3 oldPos;
+
+ public bool continueCollectingPoints = false;
+
+
+ [Space(10)] public RectTransform progressBar;
+ public Text progressText;
+
+ [Space(10)] public Color defaultColor = new Color32(249, 255, 69, 255);
+
+ [Space(10)] public List<Button> Buttons;
+
+ private bool lastConditiondsState = false;
+ private float notificationDelay = 4;
+ private float lastNotificationTime = 0f;
+ public bool CanFinish = true;
+ public float RenderDistance = 5f;
+ public float MaxRenderDistance = 6f;
+ public Slider RenderSlider;
+ public float weldDistance = 0.015f;
+
+ // Start is called before the first frame update
+ void Start()
+ {
+ pointsToAdd = new List<Vector3>();
+ emitParams = new ParticleSystem.EmitParams();
+ emitParams.startColor = defaultColor;
+
+ minPoint = Vector3.positiveInfinity;
+ maxPoint = Vector3.negativeInfinity;
+
+ maxDistance = Mathf.Sqrt(maxSqrDistance);
+
+ foreach (var button in Buttons)
+ {
+ button.interactable = false;
+ }
+
+ lastNotificationTime = Time.time;
+ currentCamTransform = Camera.main.transform;
+
+ RenderSlider.minValue = 0.5f;
+ RenderSlider.maxValue = MaxRenderDistance;
+ RenderSlider.value = RenderDistance;
+ oldPos = currentCamTransform.position;
+
+ StartCoroutine(DelayedStart());
+ }
+
+ public void UpdateRenderDistance(float newVal)
+ {
+ RenderDistance = newVal;
+ }
+
+ private IEnumerator DelayedStart(float delay = 0.05f)
+ {
+ continueCollectingPoints = false;
+ yield return new WaitForSeconds(delay);
+ continueCollectingPoints = true;
+ }
+
+ void Rerender()
+ {
+ pointCloud.Clear();
+
+ foreach (var point in localPoints.Points)
+ {
+ emitParams.position = point;
+ pointCloud.Emit(emitParams, 1);
+ }
+ oldPos = currentCamTransform.position;
+ }
+
+ void RotatePoints()
+ {
+ var newPoints = new List<Vector3>(globalPoints.Points);
+ newPoints.AddRange(pointsToAdd);
+
+ globalPoints.Build(newPoints);
+ CreateLocalKD();
+ foreach (var point in pointsToAdd)
+ {
+ if (!(Random.Range(0f, 1f) < 0.4f)) continue;
+ if (point.x < minPoint.x)
+ minPoint.x = point.x;
+ if (point.y < minPoint.y)
+ minPoint.y = point.y;
+ if (point.z < minPoint.z)
+ minPoint.z = point.z;
+
+ if (point.x > maxPoint.x)
+ maxPoint.x = point.x;
+ if (point.y > maxPoint.y)
+ maxPoint.y = point.y;
+ if (point.z > maxPoint.z)
+ maxPoint.z = point.z;
+ }
+
+ pointsToAdd.Clear();
+ }
+
+ void CreateLocalKD()
+ {
+ if (globalPoints.Count == 0)
+ {
+ localPoints.Build(new List<Vector3>());
+ return;
+ }
+ List<int> nearestPointsInd = new List<int>();
+ interQuery.Radius(globalPoints, currentCamTransform.position, maxDistance + 0.1f, nearestPointsInd);
+ var localPointsList = new List<Vector3>();
+ foreach (var pInd in nearestPointsInd)
+ {
+ localPointsList.Add(globalPoints.Points[pInd]);
+ }
+
+ localPoints.Build(localPointsList);
+ }
+
+ // Update is called once per frame
+ void Update()
+ {
+ if (!continueCollectingPoints)
+ return;
+
+
+ if (Frame.PointCloud.IsUpdatedThisFrame)
+ {
+ if (pointsToAdd.Count > 400)
+ {
+ RotatePoints();
+ }
+ else if (Random.Range(0f, 1f) < 0.0115f || (oldPos - currentCamTransform.position).sqrMagnitude > 1)
+ {
+ CreateLocalKD();
+ Rerender();
+ }
+
+ List<int> queryResults = new List<int>();
+ for (int i = 0; i < Frame.PointCloud.PointCount; i++)
+ {
+ queryResults.Clear();
+
+ var point = Frame.PointCloud.GetPointAsStruct(i);
+ if (point.Confidence < minConfidence) continue;
+ // if (point.Confidence < softConfidence && Random.Range(0f, 1f) < 0.25f) continue;
+
+ var distance = (currentCamTransform.position - point.Position).sqrMagnitude;
+ if (distance > maxSqrDistance) continue;
+
+ // compare against localkd
+ if (localPoints.Count > 0)
+ {
+ interQuery.Radius(localPoints, point.Position, weldDistance, queryResults);
+ if (queryResults.Count > 0)
+ {
+ continue;
+ }
+ }
+
+ //add to pointsToAdd
+
+
+ if (Random.Range(0f, 1f) < 0.35f)
+ {
+ emitParams.position = point;
+ pointCloud.Emit(emitParams, 1);
+ }
+
+ pointsToAdd.Add(point.Position);
+ }
+ }
+
+ var currentConditionsState = CheckFinishConditionsSatisfied();
+ // сохранение и отправка
+ if (currentConditionsState)
+ {
+ if (currentConditionsState != lastConditiondsState)
+ {
+ var curTime = Time.time;
+ if (curTime - lastNotificationTime > notificationDelay)
+ {
+ lastNotificationTime = curTime;
+ NotificationManager.instance.CreateNotification(
+ "Собрано достаточно точек - можно продолжать сканирование или отправить их на сервер");
+ }
+ }
+
+ foreach (var button in Buttons)
+ {
+ button.interactable = true;
+ }
+ }
+ else
+ {
+ foreach (var button in Buttons)
+ {
+ button.interactable = false;
+ }
+ }
+
+ lastConditiondsState = currentConditionsState;
+
+ UpdateUI();
+ }
+
+ private bool CheckFinishConditionsSatisfied()
+ {
+ return CanFinish && CheckBoundingBox() && globalPoints.Count >= minPointsCount;
+ }
+
+ private float CalculateCurrentBoundingBoxVolume()
+ {
+// print($"{minPoint}, {maxPoint}");
+ var diag = maxPoint - minPoint;
+ return Mathf.Abs(diag.x * diag.y * diag.z);
+ }
+
+ private bool CheckBoundingBox()
+ {
+ return CalculateCurrentBoundingBoxVolume() >= minBoundingBoxVolume;
+ }
+
+ // private IEnumerator WeldRoutine(float maxRadius = 0.01125f, float uniformPart = 0.4f, int maxSamples = 400, int maxSamplesPerFrame = 150)
+ // {
+ // var extendedMaxSamplesPerFrame = maxSamplesPerFrame * 2;
+ // var counter = 0;
+ // List<int> nearestPointsInd = new List<int>();
+ // List<int> results = new List<int>();
+ // List<int> samples = new List<int>();
+ // var weldMask = new List<bool>(points.Count);
+ // while (true)
+ // {
+ // if (!gameObject.activeInHierarchy ||
+ // points.Count == 0 ||
+ // uniformPart <= 0f)
+ // yield return null;
+ //
+ // _kdTree.Build(points, 32);
+ // nearestPointsInd.Clear();
+ // _query.Radius(_kdTree, currentCamTransform.position, maxDistance + 0.1f, nearestPointsInd);
+ //
+ // samples.Clear();
+ //
+ // var numSamples = (int) (nearestPointsInd.Count * uniformPart) + 1;
+ // numSamples = Math.Min(numSamples, maxSamples);
+ // var probNum = numSamples;
+ //
+ // for (var i = 0; i < nearestPointsInd.Count; i++)
+ // {
+ // var probability = probNum * 1.0f / nearestPointsInd.Count;
+ // if (Random.Range(0f, 1f) < probability)
+ // {
+ // probNum -= 1;
+ // samples.Add(nearestPointsInd[i]);
+ // }
+ //
+ // if (samples.Count > numSamples * 1.2f)
+ // break;
+ // }
+ // yield return null;
+ //
+ // weldMask.Clear();
+ // for (int i = 0; i < points.Count; i++)
+ // {
+ // counter++;
+ // weldMask.Add(false);
+ // if (counter > extendedMaxSamplesPerFrame)
+ // {
+ // yield return null;
+ // counter = 0;
+ // }
+ // }
+ //
+ //
+ // results.Clear();
+ // foreach (var sampleInd in samples)
+ // {
+ // counter++;
+ // var point = points[sampleInd];
+ // _query.Radius(_kdTree, point, maxRadius*0.9f, results);
+ // // yield return null;
+ // if (results.Count > 1) // 1 is point itself; 2 is neighbour
+ // weldMask[sampleInd] = true;
+ // results.Clear();
+ // if (counter > maxSamplesPerFrame)
+ // {
+ // yield return null;
+ // counter = 0;
+ // }
+ // }
+ //
+ //
+ // for (int i = weldMask.Count - 1; i > -1; i--)
+ // {
+ // counter++;
+ // // print($"i:{i}, mask_len:{weldMask.Count}");
+ // if (weldMask[i])
+ // {
+ // points.RemoveAt(i);
+ // }
+ // if (counter > maxSamplesPerFrame)
+ // {
+ // yield return null;
+ // counter = 0;
+ // }
+ // }
+ // results.Clear();
+ // _kdTree.Build(points);
+ // _query.Radius(_kdTree, currentCamTransform.position, RenderDistance, results);
+ //
+ // pointCloud.Clear();
+ // foreach (var pointInd in results)
+ // {
+ // if (Random.Range(0.0f, 1.0f) < 0.75)
+ // {
+ // continue;
+ // }
+ // counter++;
+ // emitParamsWelded.position = points[pointInd];
+ // pointCloud.Emit(emitParamsWelded, 1);
+ // if (counter > extendedMaxSamplesPerFrame)
+ // {
+ // yield return null;
+ // counter = 0;
+ // }
+ // }
+ // results.Clear();
+ // yield return null;
+ // }
+ // }
+ //
+ // private void WeldPoints(float maxRadius = 0.015f, float uniformPart = 0.45f, int maxSamples = 1200)
+ // {
+ // if (points.Count == 0 ||
+ // uniformPart <= 0f)
+ // {
+ // return;
+ // }
+ //
+ // var oldCount = points.Count;
+ // _kdTree.Build(points);
+ //
+ //
+ // List<int> nearestPointsInd = new List<int>();
+ // _query.Radius(_kdTree, currentCamTransform.position, maxDistance + 0.1f, nearestPointsInd);
+ //
+ //
+ // List<int> results = new List<int>();
+ // List<int> samples = new List<int>();
+ // var numSamples = (int) (nearestPointsInd.Count * uniformPart) + 1;
+ // numSamples = Math.Min(numSamples, maxSamples);
+ // var probNum = numSamples;
+ // for (var i = 0; i < nearestPointsInd.Count; i++)
+ // {
+ // var probability = probNum * 1.0f / nearestPointsInd.Count;
+ // if (Random.Range(0f, 1f) < probability)
+ // {
+ // probNum -= 1;
+ // samples.Add(nearestPointsInd[i]);
+ // }
+ //
+ // if (samples.Count > numSamples * 1.2f)
+ // break;
+ // }
+ //
+ // print(samples.Count);
+ //
+ // var weldMask = new List<bool>(points.Count);
+ // for (int i = 0; i < points.Count; i++)
+ // weldMask.Add(false);
+ //
+ // foreach (var sampleInd in samples)
+ // {
+ // var point = points[sampleInd];
+ // _query.Radius(_kdTree, point, maxRadius*0.9f, results);
+ // if (results.Count > 1) // 1 is point itself; 2 is neighbour
+ // weldMask[sampleInd] = true;
+ // results.Clear();
+ // }
+ //
+ //
+ // pointCloud.Clear();
+ // for (int i = points.Count - 1; i > -1; i--)
+ // {
+ // if (weldMask[i])
+ // {
+ // points.RemoveAt(i);
+ // }
+ // }
+ // results.Clear();
+ // _kdTree.Build(points);
+ // _query.Radius(_kdTree, currentCamTransform.position, maxDistance, results);
+ // foreach (var pointInd in results)
+ // {
+ // emitParamsWelded.position = points[pointInd];
+ // pointCloud.Emit(emitParamsWelded, 1);
+ // }
+ //
+ // // NotificationManager.instance.CreateNotification($"Удалено {points.Count - oldCount} похожих точек\n" +
+ // // $"Отображено {results.Count}/{points.Count}", 2f);
+ // }
+ //
+
+ private void UpdateUI()
+ {
+ var pointsRatio = Mathf.Clamp01(1f * globalPoints.Count / minPointsCount);
+ var bbVol = CalculateCurrentBoundingBoxVolume();
+ var volumeRatio = Mathf.Clamp01(bbVol / minBoundingBoxVolume);
+
+ var ratio = (pointsRatio + volumeRatio) / 2f;
+
+ progressBar.localScale = new Vector3(ratio, 1f, 1f);
+ progressText.text =
+ $"{globalPoints.Count}/{minPointsCount} points | {Math.Round(bbVol, 1)}/{minBoundingBoxVolume} m3";
+ }
}
\ No newline at end of file
diff --git a/Assets/Resources/Scripts/PointCloudSender.cs b/Assets/Resources/Scripts/PointCloudSender.cs
index 6b4c3835165e13bd6c2c7ce32116aeb9c92f818c..c3434e620525e86040b58acf02476316306ef5e5 100644
--- a/Assets/Resources/Scripts/PointCloudSender.cs
+++ b/Assets/Resources/Scripts/PointCloudSender.cs
@@ -1,200 +1,200 @@
-п»їusing System;
-using System.Collections;
-using System.Collections.Generic;
-using System.Globalization;
-using System.IO;
-using UnityEngine;
-using UnityEngine.Networking;
-using UnityEngine.UI;
-
-public class PointCloudSender : MonoBehaviour
-{
- public InputField host;
- public GameObject RemoteMarker;
-
- private PointCloudSaver _pointCloudSaver;
- private MyPointCloudVisualizer _pointCloudVisualizer;
-
- void Start()
- {
- _pointCloudSaver = GetComponent<PointCloudSaver>();
- _pointCloudVisualizer = GetComponent<MyPointCloudVisualizer>();
- NotificationManager.instance.CreateNotification("Система работает", 5f);
- }
-
- private string GetUrl(string sendType)
- {
- var hostAddr = host.text;
- var url = hostAddr + "/" + sendType;
- return url;
- }
-
- private string SaveCurrentPointCloud()
- {
- var points = _pointCloudVisualizer.Points;
- var filename = _pointCloudSaver.SavePointCloud(points);
- NotificationManager.instance.CreateNotification("Облако точек сохранено");
- return filename;
- }
-
- public void SendAsMap()
- {
- var filename = SaveCurrentPointCloud();
- SendAsMap(filename);
- }
-
- public void SendAsMap(string filename)
- {
- StartCoroutine(SendAsMapRoutine(filename));
- }
-
- private IEnumerator Note()
- {
- yield return new WaitForSeconds(15f);
- NotificationManager.instance.CreateNotification(
- "Обработка может занять длительное время, пожалуйста, подождите");
- while (true)
- {
- yield return new WaitForSeconds(15f);
- NotificationManager.instance.CreateNotification(
- "Сервер всё еще обрабатывает ваш запрос, пожалуйста, подождите");
- }
- }
-
- private IEnumerator SendAsMapRoutine(string filename)
- {
- var url = GetUrl("addmap");
- List<IMultipartFormSection> formData = new List<IMultipartFormSection>();
-
-
- var bytePointCloud = File.ReadAllBytes(filename);
- formData.Add(new MultipartFormFileSection(
- "pointCloud", bytePointCloud, "MapPointCloud.xyz", "text/plain"));
-
- List<Vector3> armarkers = new List<Vector3>();
- foreach (var markerTransform in ARMarker.instances)
- {
- var pos = markerTransform.position;
- armarkers.Add(pos);
- }
-
- if (armarkers.Count > 0)
- {
- var markersFile = _pointCloudSaver.SavePointCloud(armarkers, "ar_markers.txt");
- var byteMarkers = File.ReadAllBytes(markersFile);
- formData.Add(new MultipartFormFileSection(
- "markers", byteMarkers, "Markers.xyz", "text/plain"));
- }
-
-
- UnityWebRequest www = UnityWebRequest.Post(url, formData);
- var routine = StartCoroutine(Note());
- foreach (var button in _pointCloudVisualizer.Buttons)
- {
- button.interactable = false;
- }
- _pointCloudVisualizer.CanFinish = false;
-
- NotificationManager.instance.CreateNotification("Сервер начал думать над вашим запросом");
- yield return www.SendWebRequest();
- StopCoroutine(routine);
- foreach (var button in _pointCloudVisualizer.Buttons)
- {
- button.interactable = true;
- }
- _pointCloudVisualizer.CanFinish = true;
-
- if (www.isNetworkError)
- {
- NotificationManager.instance.CreateNotification("Сервер недоступен, проверьте соединение");
- }
- else if (www.isHttpError)
- {
- Debug.Log(www.error);
- NotificationManager.instance.CreateNotification("Ошибка сервера, не удалось создать карту");
- }
- else
- {
- NotificationManager.instance.CreateNotification("Карта создана успешно");
- }
- }
-
- public void SendAsAlign()
- {
- var filename = SaveCurrentPointCloud();
- SendAsAlign(filename);
- }
-
- public void SendAsAlign(string filename)
- {
- StartCoroutine(SendAsAlignRoutine(filename));
- }
-
- private IEnumerator SendAsAlignRoutine(string filename)
- {
- var url = GetUrl("align");
- List<IMultipartFormSection> formData = new List<IMultipartFormSection>();
- formData.Add(new MultipartFormDataSection("targetMap=1"));
-
- var bytePointCloud = File.ReadAllBytes(filename);
- formData.Add(new MultipartFormFileSection(
- "pointCloud", bytePointCloud, "MapPointCloud.xyz", "text/plain"));
-
- UnityWebRequest www = UnityWebRequest.Post(url, formData);
- var routine = StartCoroutine(Note());
- foreach (var button in _pointCloudVisualizer.Buttons)
- {
- button.interactable = false;
- }
- _pointCloudVisualizer.CanFinish = false;
-
- NotificationManager.instance.CreateNotification("Сервер начал думать над вашим запросом");
- yield return www.SendWebRequest();
- StopCoroutine(routine);
- foreach (var button in _pointCloudVisualizer.Buttons)
- {
- button.interactable = true;
- }
- _pointCloudVisualizer.CanFinish = true;
-
- if (www.isNetworkError)
- {
- NotificationManager.instance.CreateNotification("Сервер недоступен, проверьте соединение");
- yield break;
- }
-
- if (www.isHttpError)
- {
- Debug.Log(www.error);
- NotificationManager.instance.CreateNotification("Ошибка сервера, не удалось локализоваться");
- yield break;
- }
-
- //x y z\nx y z...
- var resp = www.downloadHandler.text.Split('\n');
- foreach (var strVec in resp)
- {
- var splitted = strVec.Split(' ');
- var pos = new Vector3(
- float.Parse(splitted[0], CultureInfo.InvariantCulture),
- float.Parse(splitted[1], CultureInfo.InvariantCulture),
- float.Parse(splitted[2], CultureInfo.InvariantCulture));
- Instantiate(RemoteMarker, pos, Quaternion.identity);
- }
-
- NotificationManager.instance.CreateNotification("Локализация прошла успешно");
-
- // var translationFl = new float[3];
- // for (var i = 0; i < translationStr.Count; i++)
- // {
- // var coord = float.Parse(translationStr);
- // translationFl[i] = coord;
- // }
- //
- // var rotationFl = new float[4];
- // foreach (var coordStr in translationStr)
- // {
- // rotationFl[i] = float.Parse(coordStr);
- // }
- }
+п»їusing System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Globalization;
+using System.IO;
+using UnityEngine;
+using UnityEngine.Networking;
+using UnityEngine.UI;
+
+public class PointCloudSender : MonoBehaviour
+{
+ public InputField host;
+ public GameObject RemoteMarker;
+
+ private PointCloudSaver _pointCloudSaver;
+ private MyPointCloudVisualizer _pointCloudVisualizer;
+
+ void Start()
+ {
+ _pointCloudSaver = GetComponent<PointCloudSaver>();
+ _pointCloudVisualizer = GetComponent<MyPointCloudVisualizer>();
+ NotificationManager.instance.CreateNotification("Система работает", 5f);
+ }
+
+ private string GetUrl(string sendType)
+ {
+ var hostAddr = host.text;
+ var url = hostAddr + "/" + sendType;
+ return url;
+ }
+
+ private string SaveCurrentPointCloud()
+ {
+ var points = _pointCloudVisualizer.Points;
+ var filename = _pointCloudSaver.SavePointCloud(points);
+ NotificationManager.instance.CreateNotification("Облако точек сохранено");
+ return filename;
+ }
+
+ public void SendAsMap()
+ {
+ var filename = SaveCurrentPointCloud();
+ SendAsMap(filename);
+ }
+
+ public void SendAsMap(string filename)
+ {
+ StartCoroutine(SendAsMapRoutine(filename));
+ }
+
+ private IEnumerator Note()
+ {
+ yield return new WaitForSeconds(15f);
+ NotificationManager.instance.CreateNotification(
+ "Обработка может занять длительное время, пожалуйста, подождите");
+ while (true)
+ {
+ yield return new WaitForSeconds(15f);
+ NotificationManager.instance.CreateNotification(
+ "Сервер всё еще обрабатывает ваш запрос, пожалуйста, подождите");
+ }
+ }
+
+ private IEnumerator SendAsMapRoutine(string filename)
+ {
+ var url = GetUrl("addmap");
+ List<IMultipartFormSection> formData = new List<IMultipartFormSection>();
+
+
+ var bytePointCloud = File.ReadAllBytes(filename);
+ formData.Add(new MultipartFormFileSection(
+ "pointCloud", bytePointCloud, "MapPointCloud.xyz", "text/plain"));
+
+ List<Vector3> armarkers = new List<Vector3>();
+ foreach (var markerTransform in ARMarker.instances)
+ {
+ var pos = markerTransform.position;
+ armarkers.Add(pos);
+ }
+
+ if (armarkers.Count > 0)
+ {
+ var markersFile = _pointCloudSaver.SavePointCloud(armarkers, "ar_markers.txt");
+ var byteMarkers = File.ReadAllBytes(markersFile);
+ formData.Add(new MultipartFormFileSection(
+ "markers", byteMarkers, "Markers.xyz", "text/plain"));
+ }
+
+
+ UnityWebRequest www = UnityWebRequest.Post(url, formData);
+ var routine = StartCoroutine(Note());
+ foreach (var button in _pointCloudVisualizer.Buttons)
+ {
+ button.interactable = false;
+ }
+ _pointCloudVisualizer.CanFinish = false;
+
+ NotificationManager.instance.CreateNotification("Сервер начал думать над вашим запросом");
+ yield return www.SendWebRequest();
+ StopCoroutine(routine);
+ foreach (var button in _pointCloudVisualizer.Buttons)
+ {
+ button.interactable = true;
+ }
+ _pointCloudVisualizer.CanFinish = true;
+
+ if (www.isNetworkError)
+ {
+ NotificationManager.instance.CreateNotification("Сервер недоступен, проверьте соединение");
+ }
+ else if (www.isHttpError)
+ {
+ Debug.Log(www.error);
+ NotificationManager.instance.CreateNotification("Ошибка сервера, не удалось создать карту");
+ }
+ else
+ {
+ NotificationManager.instance.CreateNotification("Карта создана успешно");
+ }
+ }
+
+ public void SendAsAlign()
+ {
+ var filename = SaveCurrentPointCloud();
+ SendAsAlign(filename);
+ }
+
+ public void SendAsAlign(string filename)
+ {
+ StartCoroutine(SendAsAlignRoutine(filename));
+ }
+
+ private IEnumerator SendAsAlignRoutine(string filename)
+ {
+ var url = GetUrl("align");
+ List<IMultipartFormSection> formData = new List<IMultipartFormSection>();
+ formData.Add(new MultipartFormDataSection("targetMap=1"));
+
+ var bytePointCloud = File.ReadAllBytes(filename);
+ formData.Add(new MultipartFormFileSection(
+ "pointCloud", bytePointCloud, "MapPointCloud.xyz", "text/plain"));
+
+ UnityWebRequest www = UnityWebRequest.Post(url, formData);
+ var routine = StartCoroutine(Note());
+ foreach (var button in _pointCloudVisualizer.Buttons)
+ {
+ button.interactable = false;
+ }
+ _pointCloudVisualizer.CanFinish = false;
+
+ NotificationManager.instance.CreateNotification("Сервер начал думать над вашим запросом");
+ yield return www.SendWebRequest();
+ StopCoroutine(routine);
+ foreach (var button in _pointCloudVisualizer.Buttons)
+ {
+ button.interactable = true;
+ }
+ _pointCloudVisualizer.CanFinish = true;
+
+ if (www.isNetworkError)
+ {
+ NotificationManager.instance.CreateNotification("Сервер недоступен, проверьте соединение");
+ yield break;
+ }
+
+ if (www.isHttpError)
+ {
+ Debug.Log(www.error);
+ NotificationManager.instance.CreateNotification("Ошибка сервера, не удалось локализоваться");
+ yield break;
+ }
+
+ //x y z\nx y z...
+ var resp = www.downloadHandler.text.Split('\n');
+ foreach (var strVec in resp)
+ {
+ var splitted = strVec.Split(' ');
+ var pos = new Vector3(
+ float.Parse(splitted[0], CultureInfo.InvariantCulture),
+ float.Parse(splitted[1], CultureInfo.InvariantCulture),
+ float.Parse(splitted[2], CultureInfo.InvariantCulture));
+ Instantiate(RemoteMarker, pos, Quaternion.identity);
+ }
+
+ NotificationManager.instance.CreateNotification("Локализация прошла успешно");
+
+ // var translationFl = new float[3];
+ // for (var i = 0; i < translationStr.Count; i++)
+ // {
+ // var coord = float.Parse(translationStr);
+ // translationFl[i] = coord;
+ // }
+ //
+ // var rotationFl = new float[4];
+ // foreach (var coordStr in translationStr)
+ // {
+ // rotationFl[i] = float.Parse(coordStr);
+ // }
+ }
}
\ No newline at end of file