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develop downsampling, reconstructure mesh
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@uzumal
uzumal committed Sep 12, 2022
1 parent 712cac7 commit 6558f52
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Showing 3 changed files with 24 additions and 198 deletions.
17 changes: 16 additions & 1 deletion AR-ROS/Assets/PointCloudStreaming/PointCloudSubscriber.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -141,8 +141,8 @@ void PointCloudRendering()
// preview pointcloud
}
// pcl_color[n] = new Color(r, g, b);

}
DownSampling();
// positions = GetPCL();
// if (positions == null)
// {
Expand All @@ -163,6 +163,21 @@ void PointCloudRendering()
// }
}

void DownSampling()
{
int cnt = 0;
// Cubeの重なり判定
Vector3 halfExtents = new Vector3(1.0f, 1.0f, 1.0f);
for(int i = 0; i < pcl.Length; i++){
if (Physics.CheckBox(pcl[i], halfExtents, Quaternion.identity)){
pcl[cnt] = pcl[i];
cnt++;
}else{
// Debug.Log("noise");
}
}
}

public Vector3[] GetPCL()
{
return pcl;
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7 changes: 3 additions & 4 deletions AR-ROS/Assets/PointCloudStreaming/PointCubeRenderer.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,14 +27,14 @@ void Start()
obj = (GameObject)Resources.Load ("Point");
myPositions.Add (new Vector3 (0.0f, 0.0f, 0.0f));
cnt = 0;
InvokeRepeating("ResetMesh", 10.0f, 10.0f);
GeneratePrefab();
}

// Update is called once per frame
void Update()
{
UpdateMesh();
Invoke("ResetMesh", 10);
}

void GeneratePrefab()
Expand Down Expand Up @@ -65,7 +65,6 @@ void ResetMesh()
// }
}


void UpdateMesh()
{
//positions = subscriber.pcl;
Expand All @@ -75,7 +74,7 @@ void UpdateMesh()
bool isPrefabEnough = false;

// Cubeの重なり判定
Vector3 halfExtents = new Vector3(0.05f, 0.05f, 0.05f);
Vector3 halfExtents = new Vector3(0.01f, 0.01f, 0.01f);

if (positions == null)
{
Expand All @@ -95,7 +94,7 @@ void UpdateMesh()
//prefabが足りているからtrueにする(追加)
isPrefabEnough = true;
cnt++;
break;
// break;
}
}else{
//もしもprefabが足りずbreakしなかった時の処理(追加)
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198 changes: 5 additions & 193 deletions AR-ROS/Assets/Scenes/hololens-tello-orbslam2.unity
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Original file line number Diff line number Diff line change
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Expand Down Expand Up @@ -769,7 +676,7 @@ MonoBehaviour:
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Expand Down Expand Up @@ -914,99 +821,6 @@ Transform:
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Expand Down Expand Up @@ -1249,9 +1063,7 @@ Transform:
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Expand Down

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