如何计算AR点云数？(团结AR基金会3.0.1)

Question

我一直在努力计算ar会话中收集到的所有AR点云的数量。

我尝试了以下代码，但是arPointCloud一直在抛出错误消息：

Object reference not set to an instance of an object

如果有人能帮我我会很高兴的。

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using UnityEngine.XR.ARFoundation;


public class PointNumberCount : MonoBehaviour
{
 ARSessionOrigin arSessionOrigin;
 ARPointCloud arPointCloud;

 int totalNumber;
 List<Vector3> featurePoints = new List<Vector3>();

 void Start()
 {

     arSessionOrigin = GetComponent<ARSessionOrigin>();

     arPointCloud = arSessionOrigin.trackablesParent.GetComponentInChildren<ARPointCloud>();
 }
 void Update()
 {

         arPointCloud = arSessionOrigin.trackablesParent.GetComponentInChildren<ARPointCloud>();
         featurePoints = new List<Vector3>(arPointCloud.positions);
         totalNumber = featurePoints.Count;

 }
}
}

Answer 1

我使用团结AR基础1.5.0预览6，他们有自己的脚本计数点云，但在他们的脚本，我们不能编辑任何东西。因此，我们需要创建一个计算点云的自定义脚本。

请检查所有的图像。

首先，确保添加了对点云管理器的引用。

然后删除Ar点云粒子视觉器。

附加一个脚本和引用。

剧本：-

using System;
using System.Collections.Generic;
using UnityEngine.XR.ARSubsystems;
using UnityEngine.UI;
namespace UnityEngine.XR.ARFoundation
{
   /// <summary>
   /// Renders an <see cref="ARPointCloud"/> as a <c>ParticleSystem</c>.
   /// </summary>
   [RequireComponent(typeof(ARPointCloud))]
   [RequireComponent(typeof(ParticleSystem))]

   public class ARPointCloudParticleVisualizer : MonoBehaviour
   {
    public Text t;
    void OnPointCloudChanged(ARPointCloudUpdatedEventArgs eventArgs)
    {
        var points = s_Vertices;
        points.Clear();
        foreach (var point in m_PointCloud.positions)
            s_Vertices.Add(point);

        int numParticles = points.Count;
        if (m_Particles == null || m_Particles.Length < numParticles)
            m_Particles = new ParticleSystem.Particle[numParticles];

        var color = m_ParticleSystem.main.startColor.color;
        var size = m_ParticleSystem.main.startSize.constant;

        for (int i = 0; i < numParticles; ++i)
        {
            m_Particles[i].startColor = color;
            m_Particles[i].startSize = size;
            m_Particles[i].position = points[i];
            m_Particles[i].remainingLifetime = 1f;
        }

        // Remove any existing particles by setting remainingLifetime
        // to a negative value.
        for (int i = numParticles; i < m_NumParticles; ++i)
        {
            m_Particles[i].remainingLifetime = -1f;
        }

        m_ParticleSystem.SetParticles(m_Particles, Math.Max(numParticles, m_NumParticles));
        m_NumParticles = numParticles;
    }

    void Awake()
    {
        m_PointCloud = GetComponent<ARPointCloud>();
        m_ParticleSystem = GetComponent<ParticleSystem>();
    }

    void OnEnable()
    {
        m_PointCloud.updated += OnPointCloudChanged;
        UpdateVisibility();
    }

    void OnDisable()
    {
        m_PointCloud.updated -= OnPointCloudChanged;
        UpdateVisibility();
    }

    void Update()
    {
        UpdateVisibility();
    }

    void UpdateVisibility()
    {
        var visible =
            enabled &&
            (m_PointCloud.trackingState != TrackingState.None);

        SetVisible(visible);
    }

    void SetVisible(bool visible)
    {
        if (m_ParticleSystem == null)
            return;

        var renderer = m_ParticleSystem.GetComponent<Renderer>();
        t.text = m_NumParticles.ToString();
        if (renderer != null)
            renderer.enabled = visible;
    }

    ARPointCloud m_PointCloud;

    ParticleSystem m_ParticleSystem;

    ParticleSystem.Particle[] m_Particles;

    int m_NumParticles;

    static List<Vector3> s_Vertices = new List<Vector3>();
    }
}

这是对我有用的。