複数の検出面に対応するようにした。（ただし、まだ動作がおかしい。）

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t-kume / RadishARCore

Browse code 複数の検出面に対応するようにした。（ただし、まだ動作がおかしい。） Collision Light Renderer
1 parent f3ea62f commit 88a46e64e636b1ae979be01604c35d2cd6bfddbd n-nittta authored on 10 Jan 2020

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Unified Split

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          app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
         messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
      }
 
      // Visualize planes.
      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
      for (Plane plane : updatedPlanes) {
        if (placedPlane == null) {
          placedPlane = plane;
          Appearance ap = new Appearance();
          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
          FloatBuffer vertices = plane.getPolygon();
          vertices.position(0);
          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
          for (int i = 0; i < vertices.remaining() / 2; i++) {
            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
          }
          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
          Pose p = plane.getCenterPose();
          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
          ground = new Ground(polyObj);
          universe.place(ground);
        } else if (plane.equals(placedPlane)) {
          Appearance ap = new Appearance();
          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
          FloatBuffer vertices = plane.getPolygon();
          vertices.position(0);
          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
          for (int i = 0; i < vertices.remaining() / 2; i++) {
            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
          }
          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
          Pose p = plane.getCenterPose();
          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
          universe.displace(ground);
          ground = new Ground(polyObj);
          universe.place(ground);
        }
      }
 
/////////////////////////////////////////////////////////////////////////////////////
// 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
//
//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
//      if (updatedPlanes != null && updatedPlanes.size() > 0) {
//        if (ground != null) universe.displace(ground);
//        Object3D polygons[] = new Object3D[updatedPlanes.size()];
//        int i = 0;
//        for (Plane plane : updatedPlanes) {
//      for (Plane plane : updatedPlanes) {
//        if (placedPlane == null) {
//          placedPlane = plane;
//          Appearance ap = new Appearance();
//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
//          FloatBuffer vertices = plane.getPolygon();
//          vertices.position(0);
//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
//          for (int j = 0; j < vertices.remaining() / 2; j++) {
//            polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
//          for (int i = 0; i < vertices.remaining() / 2; i++) {
//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
//          }
//          Object3D polyObj = new Object3D("plane" + i, new Shape3D(polygon, ap));
//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
//          Pose p = plane.getCenterPose();
//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
//          polygons[i] = polyObj;
//          i++;
//          ground = new Ground(polyObj);
//          universe.place(ground);
//        } else if (plane.equals(placedPlane)) {
//          Appearance ap = new Appearance();
//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
//          FloatBuffer vertices = plane.getPolygon();
//          vertices.position(0);
//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
//          for (int i = 0; i < vertices.remaining() / 2; i++) {
//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
//          }
//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
//          Pose p = plane.getCenterPose();
//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
//          universe.displace(ground);
//          ground = new Ground(polyObj);
//          universe.place(ground);
//        }
//        ground = new Ground(new Object3D("ground", polygons));
//        universe.place(ground);
//      }
 
/////////////////////////////////////////////////////////////////////////////////////
// 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
//
      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
      if (updatedPlanes != null && updatedPlanes.size() > 0) {
        if (ground != null) universe.displace(ground);
        ArrayList<Object3D> polygons = new ArrayList<>();
        for (Plane plane : updatedPlanes) {
            if (plane.getSubsumedBy() == null) {
                Appearance ap = new Appearance();
                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
                FloatBuffer vertices = plane.getPolygon();
                vertices.position(0);
                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
                for (int j = 0; j < vertices.remaining() / 2; j++) {
                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
                }
                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
                Pose p = plane.getCenterPose();
                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
                polygons.add(polyObj);
            }
        }
        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
        universe.place(ground);
      }
/////////////////////////////////////////////////////////////////////////////////////
 
 
//      planeRenderer.drawPlanes(
         messageSnackbarHelper.showMessage(this, SEARCHING_PLANE_MESSAGE);
       }
       // Visualize planes.
-      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
-      for (Plane plane : updatedPlanes) {
-        if (placedPlane == null) {
-          placedPlane = plane;
-          Appearance ap = new Appearance();
-          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-          FloatBuffer vertices = plane.getPolygon();
-          vertices.position(0);
-          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
-          for (int i = 0; i < vertices.remaining() / 2; i++) {
-            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
-          }
-          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
-          Pose p = plane.getCenterPose();
-          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-          ground = new Ground(polyObj);
-          universe.place(ground);
-        } else if (plane.equals(placedPlane)) {
-          Appearance ap = new Appearance();
-          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-          FloatBuffer vertices = plane.getPolygon();
-          vertices.position(0);
-          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
-          for (int i = 0; i < vertices.remaining() / 2; i++) {
-            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
-          }
-          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
-          Pose p = plane.getCenterPose();
-          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-          universe.displace(ground);
-          ground = new Ground(polyObj);
-          universe.place(ground);
-        }
-      }
-/////////////////////////////////////////////////////////////////////////////////////
-// 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
-//
 //      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+//      if (updatedPlanes != null && updatedPlanes.size() > 0) {
+//        if (ground != null) universe.displace(ground);
+//        Object3D polygons[] = new Object3D[updatedPlanes.size()];
+//        int i = 0;
+//        for (Plane plane : updatedPlanes) {
+//      for (Plane plane : updatedPlanes) {
+//        if (placedPlane == null) {
+//          placedPlane = plane;
 //          Appearance ap = new Appearance();
 //          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
 //          FloatBuffer vertices = plane.getPolygon();
 //          vertices.position(0);
 //          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//          for (int j = 0; j < vertices.remaining() / 2; j++) {
+//            polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
+//          for (int i = 0; i < vertices.remaining() / 2; i++) {
+//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
 //          }
+//          Object3D polyObj = new Object3D("plane" + i, new Shape3D(polygon, ap));
+//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
 //          Pose p = plane.getCenterPose();
 //          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
 //          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//          polygons[i] = polyObj;
+//          i++;
+//          ground = new Ground(polyObj);
+//          universe.place(ground);
+//        } else if (plane.equals(placedPlane)) {
+//          Appearance ap = new Appearance();
+//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+//          FloatBuffer vertices = plane.getPolygon();
+//          vertices.position(0);
+//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//          for (int i = 0; i < vertices.remaining() / 2; i++) {
+//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+//          }
+//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+//          Pose p = plane.getCenterPose();
+//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//          universe.displace(ground);
+//          ground = new Ground(polyObj);
+//          universe.place(ground);
 //        }
-//        ground = new Ground(new Object3D("ground", polygons));
-//        universe.place(ground);
 //      }
+/////////////////////////////////////////////////////////////////////////////////////
+// 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
+//
+      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+      if (updatedPlanes != null && updatedPlanes.size() > 0) {
+        if (ground != null) universe.displace(ground);
+        ArrayList<Object3D> polygons = new ArrayList<>();
+        for (Plane plane : updatedPlanes) {
+            if (plane.getSubsumedBy() == null) {
+                Appearance ap = new Appearance();
+                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+                FloatBuffer vertices = plane.getPolygon();
+                vertices.position(0);
+                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+                for (int j = 0; j < vertices.remaining() / 2; j++) {
+                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
+                }
+                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
+                Pose p = plane.getCenterPose();
+                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+                polygons.add(polyObj);
+            }
+        }
+        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
+        universe.place(ground);
+      }
 /////////////////////////////////////////////////////////////////////////////////////
 //      planeRenderer.drawPlanes(

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