Hololens SpatialMapping（空间映射）组件机理分析（一）

最新推荐文章于 2024-06-07 11:21:14 发布

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最新推荐文章于 2024-06-07 11:21:14 发布 · 2.9k 阅读

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本文深入解析Hololens SpatialMapping组件的工作原理，包括SpatialMappingObserver、SpatialMappingManager和SpatialMappingSource三个核心脚本的作用。SpatialMappingObserver负责环境扫描与更新，SpatialMappingManager控制工作状态并提供接口，SpatialMappingSource处理扫描结果的存储和管理。通过理解这一机制，开发者可以进行更灵活的定制。

本文将详细讲述在Holotoolkit项目中提供的SpatialMapping（空间映射）组件的工作机理，通过了解其工作机制及流程，以便进行个性化编制。
之前在sun_t89的博客中有关于空间映射的简单说明这里写链接内容感谢sun_t89的工作，而本文是深入阐述其内在实现机制，通过了解该机制来实现一些比较灵活的定制方案。

SpatialMapping组件工作机理

SpatialMapping（空间映射）组件主要由三个脚本组成，分别为：
SpatialMappingObserver
SpatialMappingManager
SpatialMappingSource

其功能分别为

SpatialMappingObserver 继承 spatialMappingSource，定期对周围环境进行扫描，并生成或更新surface数据。

SpatialMappingManager 负责控制SpatialMappingObserver是否工作，提供获取环境mesh列表的接口等。例如设置mesh材质，设置阴影，设置显示等操作。

SpatialMappingSource 负责扫描获得的mesh存储和管理工作，例如添加，更新，移除，提取等操作。

通过上面的功能描述，可以发现SpatialMappingObserver是核心代码，现在重点分析该代码

// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License. See LICENSE in the project root for license information.

using System.Collections.Generic;
using UnityEngine;
using UnityEngine.VR.WSA;

namespace HoloToolkit.Unity.SpatialMapping
{
    /// <summary>
    /// Spatial Mapping Observer states.
    /// </summary>
    public enum ObserverStates
    {
        /// <summary>
        /// The SurfaceObserver is currently running.
        /// </summary>
        Running = 0,

    /// <summary>
    /// The SurfaceObserver is currently idle.
    /// </summary>
    Stopped = 1
}

/// <summary>
/// The SpatialMappingObserver class encapsulates the SurfaceObserver into an easy to use 
//SpatialMappingObeserver class将SurfaceObeserver以简单易用的方式进行封装
/// object that handles managing the observed surfaces and the rendering of surface geometry.
//负责管理被扫描后的平面和几何平面的渲染
/// </summary>
public class SpatialMappingObserver : SpatialMappingSource
{
    [Tooltip("The number of triangles to calculate per cubic meter.")]
    public float TrianglesPerCubicMeter = 500f;

    [Tooltip("The extents of the observation volume.")]
    public Vector3 Extents = Vector3.one * 10.0f;

    [Tooltip("How long to wait (in sec) between Spatial Mapping updates.")]
    public float TimeBetweenUpdates = 3.5f;

    /// <summary>
    /// Event for hooking when surfaces are changed.
    /// </summary>
    public event SurfaceObserver.SurfaceChangedDelegate SurfaceChanged;

    /// <summary>
    /// Event for hooking when the data for a surface is ready.
    /// </summary>
    public event SurfaceObserver.SurfaceDataReadyDelegate DataReady;

    /// <summary>
    /// Indicates the current state of the Surface Observer.
    /// </summary>
    public ObserverStates ObserverState { get; private set; }

    /// <summary>
    /// Our Surface Observer object for generating/updating Spatial Mapping data.
    /// </summary>
    private SurfaceObserver observer;

    /// <summary>
    /// A dictionary of surfaces that our Surface Observer knows about.
    /// Key: surface id
    /// Value: GameObject containing a Mesh, a MeshRenderer and a Material
    /// </summary>
    private Dictionary<int, GameObject> surfaces = new Dictionary<int, GameObject>();

    /// <summary>
    /// A dictionary of surfaces which need to be cleaned up and readded for reuse.
    /// Key: ID of the surface currently updating
    /// Value: A struct encapsulating Visual and Collider mesh to be cleaned up
    /// </summary>
    private Dictionary<int, GameObject> pendingCleanup = new Dictionary<int, GameObject>();

    /// <summary>
    /// A queue of clean su