Raumbewusstsein: Was kann eine Hololens-Brille?

Heute werden wir mit Microsoft Hololens-Brillen in den Bereich Spatial Awareness einsteigen und über die Entwicklung von Windows Mixed Reality (WMR) sowie darüber sprechen, was von der zweiten Generation zu erwarten ist.

, Hololens Unity Mixed Reality Toolkit (MRTK).

UWP Microsoft.

Hololens?

Hololens – (Mixed Reality), (Spatial Awareness). Microsoft . EasyAR SDK 4.0 Sparse & Dense SpatialMap, .

Microsoft «» (25 ): Scene Understanding SDK.

, Spatial Understanding, Holotoolkit 2017.4.1.0 ( – MRTK) Unity 2017.4. – «How-To: Use Spatial Understanding to Query your Room with HoloLens».

, Hololens .

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Hololens Spatial Awareness

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Spatial Awareness MRTK Unity.
MRTK Microsoft. , Unity , github.

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• Observation Extents = 1.0f – ;
• TPM = 600 – (scanning density). , ( );
• Surface Update Time = 0.3f () – .

:

, Unity:

• mesh.vertices Vector3 []– ;
• mesh.triangles int []– , ;
• mesh.uv Vector2[]– UV-.
  vertices triangles, :

, : :

• $$$i$;
• $$$p$_$$$i$$$$(x,y,z)$;
• $$$p$_$$$i$, $$$i$:

$$

$$p_{i} =\frac{1}{|Adj(i)|} \sum_{j \in Adj(i)}^{} q_{j}$$

:

• $$$Adj(i)$– , $$$p$_$$$i$;
• $$$q$_$$$j$– , $$$p$_$$$i$.

Wiki Unity , . MarkGX 2011 ( ). laplacianFilter, :

• Vector3[] sv;
• int[] t – , . ( ).

() . :

$$$i$$$$t$$$$t[k], t[k+1], t[k+2]$: $$$i$, , , .

.

, , x, y, z, .

:

    public static Vector3[] laplacianFilter(Vector3[] sv, int[] t)
    {
        Vector3[] wv = new Vector3[sv.Length];
        List<Vector3> adjacentVertices = new List<Vector3>();

        float dx = 0.0f;
        float dy = 0.0f;
        float dz = 0.0f;

        for (int vi=0; vi< sv.Length; vi++)
        {
            adjacentVertices = MeshUtils.findAdjacentNeighbors (sv, t, sv[vi]);

            if (adjacentVertices.Count != 0)
            {
                dx = 0.0f;
                dy = 0.0f;
                dz = 0.0f;

                for (int j=0; j<adjacentVertices.Count; j++)
                {
                    dx += adjacentVertices[j].x;
                    dy += adjacentVertices[j].y;
                    dz += adjacentVertices[j].z;
                }

                wv[vi].x = dx / adjacentVertices.Count;
                wv[vi].y = dy / adjacentVertices.Count;
                wv[vi].z = dz / adjacentVertices.Count;
            }
        }
        return wv;
    }

:

, «» . , . , .

(HC-algorithm).
$$$p$_$$$i$$$$q$_$$$i$() $$$o$_$$$i$$$$d$_$$$i$.

$$$b$_$$$i$:

$$

$$b_{i} := p_{i} - (\alpha o_{i} + (1-\alpha)q_{i})$$

$$$α$– $$$d$_$$$i$. , $$$d$_$$$i$, , :

$$

$$d_{i} := -\frac{1}{|Adj(i)|} \sum_{j \in Adj(i)}^{} b_{j}$$

$$$i$, $$$b$_$$$i$$$$\beta \in[0;1]$:

$$

$$d_{i} := -(\beta b_{i} + \frac{1-\beta}{|Adj(i)|} \sum_{j \in Adj(i)}^{} b_{j})$$

$$$\beta$.

. .

, $$$(\alpha = 0)$. «» $$$\beta=0,5$.

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, , (, Azure Kinect Snapdragon). .