#Hololens – #SpatialMapping, tutorial sobre cómo buscar superficies simples (Un tile de 1×1 en el piso)

elbruno HoloLens, HoloToolkit, SpanishPost, Unity3D 25 Apr 201724 Apr 2017 3 Minutes

Hola !

En el post anterior expliqué como utilizar Spatial Understanding para tener más control sobre el proceso de escaneo que realiza Hololens. En ese ejemplo, se realizaban los siguientes pasos

Cuando se lanzaba la App, Hololens comenzaba el proceso de escaneo
Cuando se llegaba a un mínimo de planos encontrados, se finalizaba el mismo
En todo momento se mostraba el estado del escaneo en un FPS

El ejemplo de hoy es la continuación del anterior, en el que una vez finalizados los pasos anteriores

Buscaremos una superficie de tamaño 1×1 en el piso, cuando se haga AirTap / Click en un holograma

La siguiente animación muestra el proceso de scanning (X6 speed, no apto para personas que se mareen) y luego el mapeo en el piso donde se puede ver como se “pintan” los mosaicos del tamaño encontrado.

2017 04 25 Hololens Spatial Understanding 01.gif

Estos son los pasos a seguir.

Create a 3D project in Unity3D
Import HoloToolkit package
Configure project to
1. Support HoloLens projects (UWP, VR, etc)
2. enable Spatial Mapping feature
Clean Scene elements
Add
1. Hololens Camera
2. Cursor With Feedback
3. Input Manager
4. Spatial Mapping
5. Spatial Understanding
6. FPS Display
Add Empty element
1. Rename to CodeManagers
2. Add new C# Script named “GameStartScanner.cs”
Add Empty Element
1. Rename to HoloCollection
2. Add 3D Cube element to HoloCollection
3. Rename to “InteractiveCube”
Set this properties to Cube
1. Position: x: 0, y:0, z:1.2
2. Scale: x: 0.2, y:0.2, z:0.2
Add a new C# Script to the cube named “Scanner Analyzer”

El proyecto debe quedar similar al siguiente

Clipboard02

Y el script para la nueva clase está debajo, y lo mejor es revisar un par de apuntes interesantes sobre la misma

Esta clase está basada en el ejemplo de Spatial Mapping de HoloToolkit
La misma usa clases auxiliares que son parte del proyecto,
- AnimatedBox.cs
- AnimationCurve3.cs
- GameStartScanner.cs
- Line.cs
- LineData.cs
- ScannerAnalyzer.cs
La funcionalidad de esta clase se activa cuando la clase que creamos en el post anterior “GameStartScanner.cs” termina el proceso de scan del entorno
En el Update se verifica si se está “buscando” una superficie de 1×1 en el suelo, en caso afirmativo se dibuja la misma
El proceso de búsqueda se realiza en “OnInputClicked”, que se activa cuando hacemos AirTap o click sobre el Cube
En esta funcion también se define el tamaño de superficie a buscar con las variables, minWidthOfWallSpace y var minHeightAboveFloor
En la línea 54 comienza el proceso de búsqueda utilizando los tamaños a buscar y las funciones
- SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(_resultsTopology);
- SpatialUnderstandingDllTopology.QueryTopology_FindPositionsOnFloor()
En el 1er paso se crea un puntero en memoria con todos los elementos de trabajo y el 2do paso es el que “filtra” por los que estén en el suelo y con el tamaño deseado
Lo siguiente es dibujar los frames en el piso, este código está basado en lo ejemplos de Spatial Mapping. Son líneas y líneas que merecen una buena tarde refactoring.

Código de ejemplo

using System.Collections.Generic;

using HoloToolkit.Unity.InputModule;

using UnityEngine;

using HoloToolkit.Unity;

public class ScannerAnalyzer : MonoBehaviour, IInputClickHandler

{

    const int QueryResultMaxCount = 512;

    const int DisplayResultMaxCount = 32;

    private List<AnimatedBox> _lineBoxList = new List<AnimatedBox>();

    private SpatialUnderstandingDllTopology.TopologyResult[] _resultsTopology = new SpatialUnderstandingDllTopology.TopologyResult[QueryResultMaxCount];

    private LineData _lineData = new LineData();

    private string _spaceQueryDescription;

    public TextMesh DebugDisplay;

    public static bool AnalyzerEnabled;

    public Material MaterialLine;

    void Update()

    {

        if (!AnalyzerEnabled) return;

        if (DebugDisplay != null)

            DebugDisplay.text = _spaceQueryDescription;

        // Queries

        if (SpatialUnderstanding.Instance.ScanState == SpatialUnderstanding.ScanStates.Done)

        {

            //Update_Queries();

        }

        // Lines: Begin

        LineDraw_Begin();

        // Drawers

        var needsUpdate = false;

        needsUpdate |= Draw_LineBoxList();

        // Lines: Finish up

        LineDraw_End(needsUpdate);

    }

    public void OnInputClicked(InputClickedEventData eventData)

    {

        if (!SpatialUnderstanding.Instance.AllowSpatialUnderstanding)

        {

            return;

        }

        var minWidthOfWallSpace = 1f;

        var minHeightAboveFloor = 1f;

        // Query

        var resultsTopologyPtr = SpatialUnderstanding.Instance.UnderstandingDLL.PinObject(_resultsTopology);

        var locationCount = SpatialUnderstandingDllTopology.QueryTopology_FindPositionsOnFloor(

            minWidthOfWallSpace, minHeightAboveFloor,

            _resultsTopology.Length, resultsTopologyPtr);

        // Output

        var visDesc = "Find Positions On Floor";

        var boxFullDims = new Vector3(minWidthOfWallSpace, 0.025f, minHeightAboveFloor);

        var color = Color.red;

        ClearGeometry();

        // Add the line boxes (we may have more results than boxes – pick evenly across the results in that case)

        var lineInc = Mathf.CeilToInt((float)locationCount / (float)DisplayResultMaxCount);

        var boxesDisplayed = 0;

        for (var i = 0; i < locationCount; i += lineInc)

        {

            var timeDelay = (float)_lineBoxList.Count * AnimatedBox.DelayPerItem;

            _lineBoxList.Add(

                new AnimatedBox(

                    timeDelay,

                    _resultsTopology[i].position,

                    Quaternion.LookRotation(_resultsTopology[i].normal, Vector3.up),

                    color,

                    boxFullDims * 0.5f)

            );

            ++boxesDisplayed;

        }

        // Vis description

        if (locationCount == boxesDisplayed)

        {

            _spaceQueryDescription = string.Format("{0} ({1})", visDesc, locationCount);

        }

        else

        {

            _spaceQueryDescription = string.Format("{0} (found={1}, displayed={2})", visDesc, locationCount, boxesDisplayed);

        }

    }

    #region Line and Box Drawing

    protected void LineDraw_Begin()

    {

        _lineData.LineIndex = 0;

        for (var i = 0; i < _lineData.Lines.Count; ++i)

        {

            _lineData.Lines[i].isValid = false;

        }

    }

    private bool Draw_LineBoxList()

    {

        var needsUpdate = false;

        for (var i = 0; i < _lineBoxList.Count; ++i)

        {

            needsUpdate |= Draw_AnimatedBox(_lineBoxList[i]);

        }

        return needsUpdate;

    }

    protected void LineDraw_End(bool needsUpdate)

    {

        if (_lineData == null)

        {

            return;

        }

        // Check if we have any not dirty

        var i = 0;

        while (i < _lineData.Lines.Count)

        {

            if (!_lineData.Lines[i].isValid)

            {

                needsUpdate = true;

                _lineData.Lines.RemoveAt(i);

                continue;

            }

            ++i;

        }

        // Do the update (if needed)

        if (needsUpdate)

        {

            Lines_LineDataToMesh();

        }

    }

    private void Lines_LineDataToMesh()

    {

        // Alloc them up

        var verts = new Vector3[_lineData.Lines.Count * 8];

        var tris = new int[_lineData.Lines.Count * 12 * 3];

        var colors = new Color[verts.Length];

        // Build the data

        for (var i = 0; i < _lineData.Lines.Count; ++i)

        {

            // Base index calcs

            var vert = i * 8;

            var v0 = vert;

            var tri = i * 12 * 3;

            // Setup

            var dirUnit = (_lineData.Lines[i].p1 – _lineData.Lines[i].p0).normalized;

            var normX = Vector3.Cross((Mathf.Abs(dirUnit.y) >= 0.99f) ? Vector3.right : Vector3.up, dirUnit).normalized;

            var normy = Vector3.Cross(normX, dirUnit);

            // Verts

            verts[vert] = _lineData.Lines[i].p0 + normX * _lineData.Lines[i].lineWidth + normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c0; ++vert;

            verts[vert] = _lineData.Lines[i].p0 – normX * _lineData.Lines[i].lineWidth + normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c0; ++vert;

            verts[vert] = _lineData.Lines[i].p0 – normX * _lineData.Lines[i].lineWidth – normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c0; ++vert;

            verts[vert] = _lineData.Lines[i].p0 + normX * _lineData.Lines[i].lineWidth – normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c0; ++vert;

            verts[vert] = _lineData.Lines[i].p1 + normX * _lineData.Lines[i].lineWidth + normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c1; ++vert;

            verts[vert] = _lineData.Lines[i].p1 – normX * _lineData.Lines[i].lineWidth + normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c1; ++vert;

            verts[vert] = _lineData.Lines[i].p1 – normX * _lineData.Lines[i].lineWidth – normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c1; ++vert;

            verts[vert] = _lineData.Lines[i].p1 + normX * _lineData.Lines[i].lineWidth – normy * _lineData.Lines[i].lineWidth; colors[vert] = _lineData.Lines[i].c1; ++vert;

            // Indices

            tris[tri + 0] = (v0 + 0); tris[tri + 1] = (v0 + 5); tris[tri + 2] = (v0 + 4); tri += 3;

            tris[tri + 0] = (v0 + 1); tris[tri + 1] = (v0 + 5); tris[tri + 2] = (v0 + 0); tri += 3;

            tris[tri + 0] = (v0 + 1); tris[tri + 1] = (v0 + 6); tris[tri + 2] = (v0 + 5); tri += 3;

            tris[tri + 0] = (v0 + 2); tris[tri + 1] = (v0 + 6); tris[tri + 2] = (v0 + 1); tri += 3;

            tris[tri + 0] = (v0 + 2); tris[tri + 1] = (v0 + 7); tris[tri + 2] = (v0 + 6); tri += 3;

            tris[tri + 0] = (v0 + 3); tris[tri + 1] = (v0 + 7); tris[tri + 2] = (v0 + 2); tri += 3;

            tris[tri + 0] = (v0 + 3); tris[tri + 1] = (v0 + 7); tris[tri + 2] = (v0 + 4); tri += 3;

            tris[tri + 0] = (v0 + 3); tris[tri + 1] = (v0 + 4); tris[tri + 2] = (v0 + 0); tri += 3;

            tris[tri + 0] = (v0 + 0); tris[tri + 1] = (v0 + 3); tris[tri + 2] = (v0 + 2); tri += 3;

            tris[tri + 0] = (v0 + 0); tris[tri + 1] = (v0 + 2); tris[tri + 2] = (v0 + 1); tri += 3;

            tris[tri + 0] = (v0 + 5); tris[tri + 1] = (v0 + 6); tris[tri + 2] = (v0 + 7); tri += 3;

            tris[tri + 0] = (v0 + 5); tris[tri + 1] = (v0 + 7); tris[tri + 2] = (v0 + 4); tri += 3;

        }

        // Create up the components

        if (_lineData.Renderer == null)

        {

            _lineData.Renderer = gameObject.AddComponent<MeshRenderer>() ??

                                 gameObject.GetComponent<Renderer>() as MeshRenderer;

            _lineData.Renderer.material = MaterialLine;

        }

        if (_lineData.Filter == null)

        {

            _lineData.Filter = gameObject.AddComponent<MeshFilter>() ?? gameObject.GetComponent<MeshFilter>();

        }

        // Create or clear the mesh

        Mesh mesh;

        if (_lineData.Filter.mesh != null)

        {

            mesh = _lineData.Filter.mesh;

            mesh.Clear();

        }

        else

        {

            mesh = new Mesh { name = "Lines_LineDataToMesh" };

        }

        // Set them into the mesh

        mesh.vertices = verts;

        mesh.triangles = tris;

        mesh.colors = colors;

        mesh.RecalculateBounds();

        mesh.RecalculateNormals();

        _lineData.Filter.mesh = mesh;

        // If no tris, hide it

        _lineData.Renderer.enabled = (_lineData.Lines.Count != 0);

        // Line index reset

        _lineData.LineIndex = 0;

    }

    protected bool Draw_AnimatedBox(AnimatedBox box)

    {

        // Update the time

        if (!box.Update(Time.deltaTime))

        {

            return false;

        }

        if (box.IsAnimationComplete)

        {

            // Animation is done, just pass through

            return Draw_Box(box.Center, box.Rotation, box.Color, box.HalfSize, box.LineWidth);

        }

        // Draw it using the current anim state

        return Draw_Box(

            box.AnimPosition.Evaluate(box.Time),

            box.Rotation * Quaternion.AngleAxis(360.0f * box.AnimRotation.Evaluate(box.Time), Vector3.up),

            box.Color,

            box.HalfSize * box.AnimScale.Evaluate(box.Time),

            box.LineWidth);

    }

    protected bool Draw_Box(Vector3 center, Quaternion rotation, Color color, Vector3 halfSize, float lineWidth = Line.DefaultLineWidth)

    {

        var needsUpdate = false;

        var basisX = rotation * Vector3.right;

        var basisY = rotation * Vector3.up;

        var basisZ = rotation * Vector3.forward;

        Vector3[] pts =

        {

            center + basisX * halfSize.x + basisY * halfSize.y + basisZ * halfSize.z,

            center + basisX * halfSize.x + basisY * halfSize.y – basisZ * halfSize.z,

            center – basisX * halfSize.x + basisY * halfSize.y – basisZ * halfSize.z,

            center – basisX * halfSize.x + basisY * halfSize.y + basisZ * halfSize.z,

            center + basisX * halfSize.x – basisY * halfSize.y + basisZ * halfSize.z,

            center + basisX * halfSize.x – basisY * halfSize.y – basisZ * halfSize.z,

            center – basisX * halfSize.x – basisY * halfSize.y – basisZ * halfSize.z,

            center – basisX * halfSize.x – basisY * halfSize.y + basisZ * halfSize.z

        };

        // Bottom

        needsUpdate |= Draw_Line(pts[0], pts[1], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[1], pts[2], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[2], pts[3], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[3], pts[0], color, color, lineWidth);

        // Top

        needsUpdate |= Draw_Line(pts[4], pts[5], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[5], pts[6], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[6], pts[7], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[7], pts[4], color, color, lineWidth);

        // Vertical lines

        needsUpdate |= Draw_Line(pts[0], pts[4], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[1], pts[5], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[2], pts[6], color, color, lineWidth);

        needsUpdate |= Draw_Line(pts[3], pts[7], color, color, lineWidth);

        return needsUpdate;

    }

    protected bool Draw_Line(Vector3 start, Vector3 end, Color colorStart, Color colorEnd, float lineWidth = Line.DefaultLineWidth)

    {

        // Create up a new line (unless it's already created)

        while (_lineData.LineIndex >= _lineData.Lines.Count)

        {

            _lineData.Lines.Add(new Line());

        }

        // Set it

        var needsUpdate = _lineData.Lines[_lineData.LineIndex].Set_IfDifferent(transform.InverseTransformPoint(start), transform.InverseTransformPoint(end), colorStart, colorEnd, lineWidth);

        // Inc out count

        ++_lineData.LineIndex;

        return needsUpdate;

    }

    public void ClearGeometry(bool clearAll = true)

    {

        _lineBoxList = new List<AnimatedBox>();

    }

    #endregion

}

view raw
HoloSpatialUnderstandingSampleGameScannerAnalyzer.cs
hosted with ❤ by GitHub

El código completo del ejemplo se puede descargar desde aquí (link).

Saludos @ Toronto

El Bruno

References

GitHub, HoloToolkit
GitHub, HoloToolkit Unity
Windows Dev Center, Case study – Expanding the spatial mapping capabilities of HoloLens
El Bruno, How to Import the HoloToolkit Unity
El Bruno, How to place a Hologram using AirTap and HoloToolkit
El Bruno, Creating a menu with options with HoloToolkit
El Bruno, Using voice commands to display a menu with HoloToolkit
El Bruno, How to create a 3D text always visible using HoloToolkit
El Bruno, How to create a HUD (3D text always visible without HoloToolkit)
El Bruno, How to detect hands using HoloToolkit
El Bruno, Windows 10, Xbox One Controller, Bluetooth and some lessons learned
El Bruno, How to use Fire Buttons actions with an XBoxOne Controller
El Bruno, HoloToolkit compiled packages for Unity3D in GitHub
El Bruno, How to detect AirTap and Click actions using HoloToolkit
El Bruno, Detect user hand interactions using #HoloToolkit
El Bruno, Moving and rotating Holograms using an XBoxOne Controller
El Bruno, Spatial Understanding vs Spatial Mapping, and a tutorial on how to use them

Published 25 Apr 201724 Apr 2017

Share this:

Like this:

Related

Leave a Reply Cancel reply