Commit aa919a17 authored by Jérémy Lacoche's avatar Jérémy Lacoche
Browse files

New way to compute world pose with grapheditorwindow (remove old way with... 

New way to compute world pose with grapheditorwindow (remove old way with classic editor), color code for trabckable and anchors
parent a3687e09

Editor/Scripts/Windows/GraphEditorWindow.cs

+113 −3
Original line number Diff line number Diff line
@@ -30,6 +30,9 @@ using ETSI.ARF.WorldStorage.Editor.Graph; 
using ETSI.ARF.OpenAPI.WorldStorage;

using System.Collections.ObjectModel;

using UnityEngine.UIElements;

using TMPro;

using UnityEditor.Experimental.GraphView;

using System.Drawing.Drawing2D;



namespace ETSI.ARF.WorldStorage.Editor.Windows

{
@@ -250,7 +253,13 @@ namespace ETSI.ARF.WorldStorage.Editor.Windows 


                    GUILayout.EndHorizontal();

                }



                if (GUILayout.Button("Generate/Update GameObject"))

                {

                    Vector3 position ;

                    Vector3 rotation ;

                    EstimateWorldPose(worldAnchorNode, out position, out rotation);

                    GenerateAndUpdateVisual(worldAnchor.UUID.ToString(), "Anchor: " + worldAnchor.Name, position, rotation, false); // Todo : localCRS does not correspond to world pos

                }

                //

                //ELEMENT PARAMETERS

                //
@@ -259,6 +268,7 @@ namespace ETSI.ARF.WorldStorage.Editor.Windows 


                //uuid

                EditorGUILayout.BeginHorizontal();

                

                EditorGUILayout.LabelField("UUID ", EditorStyles.boldLabel, GUILayout.Width(50));

                if (!SaveInfo.instance.nodePositions.ContainsKey(worldAnchor.UUID.ToString()))

                {
@@ -594,6 +604,15 @@ namespace ETSI.ARF.WorldStorage.Editor.Windows 
                    GUILayout.EndHorizontal();

                }



                if (GUILayout.Button("Generate/Update GameObject"))

                {

                    Vector3 position ;

                    Vector3 rotation ;

                    EstimateWorldPose(trackableNode, out position, out rotation);

                    Debug.Log("Position " +position);

                    GenerateAndUpdateVisual(trackable.UUID.ToString(), "Trackable: "+ trackable.TrackableType + "  "+ trackable.Name, position, rotation, true); // Todo : localCRS does not correspond to world pos

                }



                //

                //ELEMENT PARAMETERS

                //
@@ -602,6 +621,9 @@ namespace ETSI.ARF.WorldStorage.Editor.Windows 


                //uuid

                EditorGUILayout.BeginHorizontal();



                



                EditorGUILayout.LabelField("UUID ", EditorStyles.boldLabel, GUILayout.Width(50));

                if (!SaveInfo.instance.nodePositions.ContainsKey(trackable.UUID.ToString()))

                {
@@ -1306,7 +1328,95 @@ namespace ETSI.ARF.WorldStorage.Editor.Windows 
        }





        public static GameObject GenerateAndUpdateVisual(string UUID, string name, Vector3 pos, Vector3 rot, bool isTrackable /* else anchor */)

        {

            ETSI.ARF.WorldStorage.UI.Prefabs.WorldStoragePrefabs prefabs;

            prefabs = (ETSI.ARF.WorldStorage.UI.Prefabs.WorldStoragePrefabs)Resources.Load("ARFPrefabs");

            GameObject arf = GameObject.Find("ARF Visuals");

            GameObject visual = GameObject.Find(UUID);



            if (arf == null) arf = new GameObject("ARF Visuals");

            if (visual == null)

            {

                GameObject typePrefaf = prefabs.trackablePrefab ;

                if (!isTrackable)

                {

                    typePrefaf = prefabs.worldAnchorPrefab ;

                }



                visual = SceneAsset.Instantiate<GameObject>(typePrefaf, pos, Quaternion.Euler(rot), arf.transform); 

                visual.name = UUID;

            }

            else

            {

                visual.transform.SetPositionAndRotation(pos, Quaternion.Euler(rot));

            }





            visual.transform.Find("Canvas/Text").GetComponent<TextMeshProUGUI>().text = $"Name: { name }\nUUID: { UUID }";

            return visual;

        }

        

        /// Here is an approach to estimate the world pose of a node

        /// It goes map depth and multiply the matrix of each link until it finds the last node considered as the origin (0, 0 ,0)

        /// This is not the optimal method as it can create inconsistencies

        /// A better approach would be to set the world poses of the nodes and then compute the matrix of the world links

        private void EstimateWorldPose(ARFNode node, out Vector3 pos, out Vector3 rot)

        {

           // trackable

           int newNDepth = 0 ;

           Matrix4x4 mat = Matrix4x4.identity ;

           ComputePose(node, ref mat , ref newNDepth);



            Vector3 translation = mat.GetColumn(3);

            // Extract Rotation

            Quaternion rotation = Quaternion.LookRotation(

            mat.GetColumn(2),

            mat.GetColumn(1)

             );



            pos = translation;

            rot = rotation.eulerAngles;

        }



        private void ComputePose(ARFNode node, ref Matrix4x4 mat , ref int depth)

        {

            int maxDepth = 0 ;



            foreach(Edge edge in node.portIn.connections)

            {

                ARFEdgeLink arfEdge = (ARFEdgeLink) edge ;

                if (arfEdge !=null)

                {

                    WorldLink link =  arfEdge.worldLink ;

                    ARFNode newNode = (ARFNode) arfEdge.output.node ;

                    int currentDepth = 1 ;

                    ComputePose(newNode, ref mat ,ref currentDepth);

                    if (currentDepth > maxDepth)

                    {

                        Matrix4x4 newMat = GetMatrix(link.Transform); 

                        mat = mat * newMat ;

                        ARFNodeTrackable trackNode =  newNode as ARFNodeTrackable;

                        ARFNodeWorldAnchor worldNode = newNode as ARFNodeWorldAnchor;

                        maxDepth = currentDepth ;

                    }

                }

            }

            depth += maxDepth ;

        }



        private Matrix4x4 GetMatrix(Transform3D tr)

        {

             Matrix4x4 matrix = new Matrix4x4();



            for (int row = 0; row < 4; row++)

            {

                for (int col = 0; col < 4; col++)

                {

                    matrix[row, col] = tr[row * 4 + col];

                }

            }

            return matrix ;

        }

    }

}
 
 No newline at end of file

Editor/Scripts/Windows/WorldAnchorWindow.cs

+2 −0
Original line number Diff line number Diff line
@@ -198,10 +198,12 @@ namespace ETSI.ARF.WorldStorage.UI 
            GUI.backgroundColor = ori;



            GUI.backgroundColor = WorldStorageWindow.arfColors[5];

            /* wrong way to comptute world pos : remove for now

            if (GUILayout.Button("Generate/Update GameObject"))

            {

                GenerateAndUpdateVisual(UUID, customName, localCRS_pos, localCRS_rot);

            }

            */

            GUI.backgroundColor = ori;

            EditorGUILayout.EndHorizontal();

            EditorGUILayout.Space();

Editor/Scripts/Windows/WorldLinkWindow.cs

+3 −2
Original line number Diff line number Diff line
@@ -307,10 +307,11 @@ namespace ETSI.ARF.WorldStorage.UI 
            GUI.backgroundColor = ori;



            GUI.backgroundColor = WorldStorageWindow.arfColors[5];

           /* wrong way to comptute world pos : remove for now 

           if (GUILayout.Button("Generate/Update GameObject"))

            {

                GenerateAndUpdateVisual(UUID, FROM, TO);

            }

            }*/

            GUI.backgroundColor = ori;

            EditorGUILayout.EndHorizontal();

            EditorGUILayout.Space();

Runtime/Prefabs/ARFTrackable.prefab

+48 −14
Original line number Diff line number Diff line
@@ -23,6 +23,7 @@ Transform: 
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@@ -31,7 +32,6 @@ Transform: 
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@@ -157,13 +166,13 @@ Transform: 
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@@ -255,13 +273,13 @@ Transform: 
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@@ -358,7 +385,6 @@ RectTransform: 
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@@ -404,8 +430,8 @@ MonoBehaviour: 
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@@ -495,7 +521,6 @@ RectTransform: 
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@@ -539,8 +564,8 @@ MonoBehaviour: 
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@@ -789,7 +821,9 @@ Canvas: 
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Runtime/Prefabs/ARFWorldAnchor.prefab

+48 −14
Original line number Diff line number Diff line
@@ -31,7 +31,6 @@ RectTransform: 
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@@ -75,8 +74,8 @@ MonoBehaviour: 
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@@ -344,8 +350,8 @@ MonoBehaviour: 
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--- !u!33 &2539246307318246025

MeshFilter:
@@ -827,8 +852,17 @@ CapsuleCollider: 
  m_PrefabAsset: {fileID: 0}

  m_GameObject: {fileID: 9076285480843021853}

  m_Material: {fileID: 0}

  m_IncludeLayers:

    serializedVersion: 2

    m_Bits: 0

  m_ExcludeLayers:

    serializedVersion: 2

    m_Bits: 0

  m_LayerOverridePriority: 0

  m_IsTrigger: 0

  m_ProvidesContacts: 0

  m_Enabled: 1

  serializedVersion: 2

  m_Radius: 0.5000001

  m_Height: 2

  m_Direction: 1