我正在开发一个简单的统一应用程序，用于测试HoloLens上的天蓝色空间锚点。我从这个示例（https://github.com/Azure/azure-spatial-anchors-samples）开始，并对其进行了一些更改以创建多个锚点。
在一些测试中，我体验到锚定的物体突然失去了位置，并且移动了约10米或更多。
当我不了解HoloLens和混合现实时，摄像机的位置会通过某种视觉测距法或SLAM算法进行跟踪，因此正常情况下设备的姿态会随时间漂移，锚也会这样做。但是我没想到会有如此巨大的变化。 此外，我希望在设备相机再次看到锚点附近的特征时，锚点会恢复原位。但这并非总是如此。有时，当这些要素再次可见时，锚点会恢复到其原始位置，但这有时并不会改变有关错误位置的任何信息。
这是代码：
using microsoft.Azure.SpatialAnchors;
using System;
using System.Collections.Generic;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.XR.WSA;
using UnityEngine.XR.WSA.Input;
using System.Linq;
using System.IO;
using UnityEditor;
public class AzureSpatialAnchorsScript : MonoBehaviour
{
/// <summary>
/// The sphere prefab.
/// </summary>
public GameObject spherePrefab;
/// <summary>
/// Set this string to the Spatial Anchors account id provided in the Spatial Anchors resource.
/// </summary>
protected string SpatialAnchorsaccountId = "fddac483-0420-4a71-ab14-c6fe5603bd73";
/// <summary>
/// Set this string to the Spatial Anchors account key provided in the Spatial Anchors resource.
/// </summary>
protected string SpatialAnchorsaccountKey = "5BY7f7xfklPW36LNaPhgo5MeQzc0lrfBJaw/ScLkkQg=";
/// <summary>
/// Our queue of actions that will be executed on the main thread.
/// </summary>
private readonly Queue<action> dispatchQueue = new Queue<action>();
/// <summary>
/// Use the recognizer to detect air taps.
/// </summary>
private GestureRecognizer recognizer;
protected CloudSpatialAnchorSession cloudSpatialAnchorSession;
/// <summary>
/// The CloudSpatialAnchor that we either 1) placed and are saving or 2) just located.
/// </summary>
protected CloudSpatialAnchor currentCloudAnchor;
/// <summary>
/// True if we are creating + saving an anchor
/// </summary>
protected bool tapExecuted = false;
/// <summary>
/// The IDs of the CloudSpatialAnchor that were saved. Use it to find the CloudSpatialAnchors
/// </summary>
protected Dictionary<string,GameObject> cloudSpatialAnchorIdsObjects = new Dictionary<string,GameObject> { };
protected IList<string> anchorIds = new List<string>();
/// <summary>
/// The sphere rendered to show the position of the CloudSpatialAnchor.
/// </summary>
protected Material sphereMaterial;
/// <summary>
/// Indicate if we are ready to save an anchor. We can save an anchor when value is greater than 1.
/// </summary>
protected float recommendedForCreate = 0;
private string pathName;
// Start is called before the first frame update
void Start()
{
Application.SetStackTraceLogType(LogType.Log,StackTraceLogType.None);
recognizer = new GestureRecognizer();
recognizer.StartCapturingGestures();
recognizer.SetRecognizableGestures(GestureSettings.Tap);
recognizer.Tapped += Handletap;
InitializeSession();
string FileName = "ids.txt";
pathName = Path.Combine(Application.persistentDataPath,FileName);
getIds();
if (anchorIds.Count > 0)
{
CreateWatcher(anchorIds.ToArray());
}
}
// Update is called once per frame
void Update()
{
lock (dispatchQueue)
{
if (dispatchQueue.Count > 0)
{
dispatchQueue.Dequeue()();
}
}
}
/// <summary>
/// Queues the specified <see cref="action"/> on update.
/// </summary>
/// <param name="updateaction">The update action.</param>
protected void QueueonUpdate(action updateaction)
{
lock (dispatchQueue)
{
dispatchQueue.Enqueue(updateaction);
}
}
/// <summary>
/// Cleans up objects.
/// </summary>
public void CleanupObjects()
{
if (cloudSpatialAnchorIdsObjects != null)
{
cloudSpatialAnchorIdsObjects = new Dictionary<string,GameObject>();
}
if (sphereMaterial != null)
{
Destroy(sphereMaterial);
sphereMaterial = null;
}
//currentCloudAnchor = null;
}
/// <summary>
/// Initializes a new CloudSpatialAnchorSession.
/// </summary>
void InitializeSession()
{
Debug.Log("ASA Info: Initializing a CloudSpatialAnchorSession.");
if (string.IsnullOrEmpty(SpatialAnchorsaccountId))
{
Debug.LogError("No account id set.");
return;
}
if (string.IsnullOrEmpty(SpatialAnchorsaccountKey))
{
Debug.LogError("No account key set.");
return;
}
cloudSpatialAnchorSession = new CloudSpatialAnchorSession();
cloudSpatialAnchorSession.Configuration.accountId = SpatialAnchorsaccountId.Trim();
cloudSpatialAnchorSession.Configuration.accountKey = SpatialAnchorsaccountKey.Trim();
cloudSpatialAnchorSession.LogLevel = SessionLogLevel.All;
cloudSpatialAnchorSession.Error += CloudSpatialAnchorSession_Error;
cloudSpatialAnchorSession.OnLogDebug += CloudSpatialAnchorSession_OnLogDebug;
cloudSpatialAnchorSession.SessionUpdated += CloudSpatialAnchorSession_SessionUpdated;
cloudSpatialAnchorSession.AnchorLocated += CloudSpatialAnchorSession_AnchorLocated;
cloudSpatialAnchorSession.LocateAnchorsCompleted += CloudSpatialAnchorSession_LocateAnchorsCompleted;
cloudSpatialAnchorSession.Start();
Debug.Log("ASA Info: Session was initialized.");
}
void CreateWatcher(string[] cloudSpatialAnchorIds)
{
Debug.Log("ASA Info: We will look for placeded anchors.");
// Create a Watcher to look for the anchor we created.
AnchorLocateCriteria criteria = new AnchorLocateCriteria();
criteria.Identifiers = cloudSpatialAnchorIds;
cloudSpatialAnchorSession.CreateWatcher(criteria);
Debug.Log("ASA Info: Watcher created. Number of active watchers: " + cloudSpatialAnchorSession.GetactiveWatchers().Count);
}
private void CloudSpatialAnchorSession_Error(object sender,SessionErrorEventArgs args)
{
Debug.LogError("ASA Error: " + args.ErrorMessage);
}
private void CloudSpatialAnchorSession_OnLogDebug(object sender,OnLogDebugEventArgs args)
{
Debug.Log("ASA Log: " + args.Message);
System.Diagnostics.Debug.WriteLine("ASA Log: " + args.Message);
}
private void CloudSpatialAnchorSession_SessionUpdated(object sender,SessionUpdatedEventArgs args)
{
Debug.Log("ASA Log: recommendedForCreate: " + args.Status.RecommendedForCreateProgress);
recommendedForCreate = args.Status.RecommendedForCreateProgress;
}
private void CloudSpatialAnchorSession_AnchorLocated(object sender,AnchorLocatedEventArgs args)
{
switch (args.Status)
{
case LocateAnchorStatus.Located:
Debug.Log("ASA Info: Anchor located! Identifier: " + args.Identifier);
QueueonUpdate(() =>
{
// Create a green sphere.
GameObject spatialAnchorObj = GameObject.Instantiate(spherePrefab,Vector3.zero,Quaternion.identity) as GameObject;
spatialAnchorObj.AddComponent<WorldAnchor>();
sphereMaterial = spatialAnchorObj.getcomponent<MeshRenderer>().material;
sphereMaterial.color = Color.green;
// Get the WorldAnchor from the CloudSpatialAnchor and use it to position the sphere.
spatialAnchorObj.getcomponent<UnityEngine.XR.WSA.WorldAnchor>().SetNativeSpatialAnchorPtr(args.Anchor.LocalAnchor);
cloudSpatialAnchorIdsObjects.Add(args.Anchor.Identifier,spatialAnchorObj);
Debug.Log("Detected Pos: " + spatialAnchorObj.getcomponent<UnityEngine.XR.WSA.WorldAnchor>().transform.position.ToString("F4"));
Debug.Log("Detected Rot: " + spatialAnchorObj.getcomponent<UnityEngine.XR.WSA.WorldAnchor>().transform.rotation.ToString("F4"));
tapExecuted = false;
});
break;
case LocateAnchorStatus.AlreadyTracked:
Debug.Log("ASA Info: Anchor already tracked. Identifier: " + args.Identifier);
break;
case LocateAnchorStatus.NotLocated:
Debug.Log("ASA Info: Anchor not located. Identifier: " + args.Identifier);
break;
case LocateAnchorStatus.NotLocatedAnchorDoesnotExist:
Debug.LogError("ASA Error: Anchor not located does not exist. Identifier: " + args.Identifier);
break;
}
}
private void CloudSpatialAnchorSession_LocateAnchorsCompleted(object sender,LocateAnchorsCompletedEventArgs args)
{
Debug.Log("ASA Info: Locate anchors completed. Watcher identifier: " + args.Watcher.Identifier);
}
/// <summary>
/// Called by GestureRecognizer when a tap is detected.
/// </summary>
/// <param name="eventArgs">The tap.</param>
public void Handletap(TappedEventArgs eventArgs)
{
if (tapExecuted)
{
return;
}
tapExecuted = true;
Debug.Log("ASA Info: We will create a new anchor.");
//// Clean up any anchors that have been placed.
//CleanupObjects();
// Construct a Ray using forward direction of the HoloLens.
Ray GazeRay = new Ray(eventArgs.headPose.position,eventArgs.headPose.forward);
// Raycast to get the hit point in the real world.
RaycastHit hitInfo;
Physics.Raycast(GazeRay,out hitInfo,float.MaxValue);
this.CreateAndSaveSphere(hitInfo.point);
}
/// <summary>
/// Creates a sphere at the hit point,and then saves a CloudSpatialAnchor there.
/// </summary>
/// <param name="hitPoint">The hit point.</param>
protected virtual void CreateAndSaveSphere(Vector3 hitPoint)
{
// Create a white sphere.
GameObject spatialAnchorObj = GameObject.Instantiate(spherePrefab,hitPoint,Quaternion.identity) as GameObject;
spatialAnchorObj.AddComponent<WorldAnchor>();
sphereMaterial = spatialAnchorObj.getcomponent<MeshRenderer>().material;
sphereMaterial.color = Color.white;
Debug.Log("ASA Info: Created a local anchor.");
// Create the CloudSpatialAnchor.
currentCloudAnchor = new CloudSpatialAnchor();
// Set the LocalAnchor property of the CloudSpatialAnchor to the WorldAnchor component of our white sphere.
WorldAnchor worldAnchor = spatialAnchorObj.getcomponent<WorldAnchor>();
if (worldAnchor == null)
{
throw new Exception("ASA Error: Couldn't get the local anchor pointer.");
}
// Save the CloudSpatialAnchor to the cloud.
currentCloudAnchor.LocalAnchor = worldAnchor.GetNativeSpatialAnchorPtr();
//cloudAnchor.AppProperties[@"x"] = @"frame";
//cloudAnchor.AppProperties[@"label"] = @"my latest picture";
Task.Run(async () =>
{
// Wait for enough data about the environment.
while (recommendedForCreate < 1.0F)
{
await Task.Delay(330);
}
bool success = false;
try
{
QueueonUpdate(() =>
{
// We are about to save the CloudSpatialAnchor to the Azure Spatial Anchors,turn it yellow.
sphereMaterial.color = Color.yellow;
});
await cloudSpatialAnchorSession.CreateAnchorAsync(currentCloudAnchor);
success = currentCloudAnchor != null;
if (success)
{
// Record the identifier to locate.
string cloudAnchorId = currentCloudAnchor.Identifier;
QueueonUpdate(() =>
{
// Turn the sphere blue.
sphereMaterial.color = Color.blue;
});
Debug.Log("ASA Info: Saved anchor to Azure Spatial Anchors! Identifier: " + cloudAnchorId);
//Debug.Log("Created " + cloudAnchorId + " at pos: " + worldAnchor.transform.position);
//Debug.Log("Created " + cloudAnchorId + "at rot: " + worldAnchor.transform.rotation);
anchorIds.Add(cloudAnchorId);
cloudSpatialAnchorIdsObjects.Add(cloudAnchorId,spatialAnchorObj);
WriteIds();
}
else
{
sphereMaterial.color = Color.red;
Debug.LogError("ASA Error: Failed to save,but no exception was thrown.");
}
}
catch (Exception ex)
{
QueueonUpdate(() =>
{
sphereMaterial.color = Color.red;
});
Debug.LogError("ASA Error: " + ex.Message);
}
// Allow the user to tap again to clear state and look for the anchor.
tapExecuted = false;
});
}
void WriteIds()
{
try
{
string fileContent = ""
//= ReadString();
;
foreach (string id in anchorIds)
{
fileContent += id + Environment.NewLine;
}
using (StreamWriter writer = new StreamWriter(new FileStream(pathName,FileMode.OpenOrCreate,Fileaccess.Write)))
{
writer.Write(fileContent);
}
}
catch (Exception e)
{
Debug.LogError(e);
}
}
void getIds()
{
try
{
StreamReader reader = new StreamReader(pathName);
string line;
while ((line = reader.ReadLine()) != null)
{
anchorIds.Add(line);
}
reader.Close();
}
catch (FileNotFoundException e)
{
Debug.LogWarning("No AnchorId file found");
}
}
}
创建锚的方式有问题吗？或者这是正常行为？