Merge pull request #30 from unity/all-feature-points

All feature points

README.md

 This sample demonstrates "people occlusion", which can produce stencil and depth textures for detected persons. This sample is very primitive and simply displays the raw texture on the screen. We are currently working on a better sample.
 
 This sample requires a device with an A12 bionic chip running iOS 13.
+
+## AllPointCloudPoints
+
+This sample shows all feature points over time, not just the current frame's feature points as the "AR Default Point Cloud" prefab does. It does this by using a slightly modified version of the `ARPointCloudParticleVisualzier` component that stores all the feature points in a Dictionary. Since each feature point has a unique identifier, it can look up the stored point and update its position in the dictionary if it already exists. This can be a useful starting point for custom solutions that require the entire map of point cloud points, e.g., for custom mesh reconstruction techniques.
+
+This sample has two UI components:
+* A button in the lower left which allows you to switch between visualizing "All" the points and just those in the "Current Frame".
+* Text in the upper right which displays the number of points in each point cloud (ARCore & ARKit will only ever have one).

Assets/Scenes/PointCloud.meta

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Assets/Scenes/PointCloud/ARAllPointCloudPointsParticleVisualizer.cs

+using System;
+using System.Collections.Generic;
+using UnityEngine.XR.ARSubsystems;
+
+namespace UnityEngine.XR.ARFoundation
+{
+    /// <summary>
+    /// Renders all points in an <see cref="ARPointCloud"/> as a <c>ParticleSystem</c>, persisting them all.
+    /// </summary>
+    [RequireComponent(typeof(ARPointCloud))]
+    [RequireComponent(typeof(ParticleSystem))]
+    public sealed class ARAllPointCloudPointsParticleVisualizer : MonoBehaviour
+    {
+        public enum Mode
+        {
+            /// <summary>
+            /// Draw all the feature points from the start of the session
+            /// </summary>
+            All,
+
+            /// <summary>
+            /// Only draw the feature points from the current frame
+            /// </summary>
+            CurrentFrame,
+        }
+
+        [SerializeField]
+        [Tooltip("Whether to draw all the feature points or only the ones from the current frame.")]
+        Mode m_Mode;
+
+        public Mode mode
+        {
+            get => m_Mode;
+            set
+            {
+                m_Mode = value;
+                RenderPoints();
+            }
+        }
+
+        public int totalPointCount => m_Points.Count;
+
+        void OnPointCloudChanged(ARPointCloudUpdatedEventArgs eventArgs)
+        {
+            RenderPoints();
+        }
+
+        void SetParticlePosition(int index, Vector3 position)
+        {
+            m_Particles[index].startColor = m_ParticleSystem.main.startColor.color;
+            m_Particles[index].startSize = m_ParticleSystem.main.startSize.constant;
+            m_Particles[index].position = position;
+            m_Particles[index].remainingLifetime = 1f;
+        }
+
+        void RenderPoints()
+        {
+            if (!m_PointCloud.positions.HasValue)
+                return;
+
+            var positions = m_PointCloud.positions.Value;
+
+            // Store all the positions over time associated with their unique identifiers
+            if (m_PointCloud.identifiers.HasValue)
+            {
+                var identifiers = m_PointCloud.identifiers.Value;
+                for (int i = 0; i < positions.Length; ++i)
+                {
+                    m_Points[identifiers[i]] = positions[i];
+                }
+            }
+
+            // Make sure we have enough particles to store all the ones we want to draw
+            int numParticles = (mode == Mode.All) ? m_Points.Count : positions.Length;
+            if (m_Particles == null || m_Particles.Length < numParticles)
+            {
+                m_Particles = new ParticleSystem.Particle[numParticles];
+            }
+
+            switch (mode)
+            {
+                case Mode.All:
+                {
+                    // Draw all the particles
+                    int particleIndex = 0;
+                    foreach (var kvp in m_Points)
+                    {
+                        SetParticlePosition(particleIndex++, kvp.Value);
+                    }
+                    break;
+                }
+                case Mode.CurrentFrame:
+                {
+                    // Only draw the particles in the current frame
+                    for (int i = 0; i < positions.Length; ++i)
+                    {
+                        SetParticlePosition(i, positions[i]);
+                    }
+                    break;
+                }
+            }
+
+            // 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()
+        {
+            SetVisible(enabled && (m_PointCloud.trackingState != TrackingState.None));
+        }
+
+        void SetVisible(bool visible)
+        {
+            if (m_ParticleSystem == null)
+                return;
+
+            var renderer = m_ParticleSystem.GetComponent<Renderer>();
+            if (renderer != null)
+                renderer.enabled = visible;
+        }
+
+        ARPointCloud m_PointCloud;
+
+        ParticleSystem m_ParticleSystem;
+
+        ParticleSystem.Particle[] m_Particles;
+
+        int m_NumParticles;
+
+        Dictionary<ulong, Vector3> m_Points = new Dictionary<ulong, Vector3>();
+    }
+}

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Assets/Scenes/PointCloud/SwitchPointCloudVisualizationMode.cs

+using System.Text;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+[RequireComponent(typeof(ARPointCloudManager))]
+public class SwitchPointCloudVisualizationMode : MonoBehaviour
+{
+    [SerializeField]
+    Button m_ToggleButton;
+
+    public Button toggleButton
+    {
+        get => m_ToggleButton;
+        set => m_ToggleButton = value;
+    }
+
+    [SerializeField]
+    Text m_Log;
+
+    public Text log
+    {
+        get => m_Log;
+        set => m_Log = value;
+    }
+
+    [SerializeField]
+    ARAllPointCloudPointsParticleVisualizer.Mode m_Mode = ARAllPointCloudPointsParticleVisualizer.Mode.All;
+
+    public ARAllPointCloudPointsParticleVisualizer.Mode mode
+    {
+        get => m_Mode;
+        set => SetMode(value);
+    }
+
+    public void SwitchVisualizationMode()
+    {
+        SetMode((ARAllPointCloudPointsParticleVisualizer.Mode)(((int)m_Mode + 1) % 2));
+    }
+
+    void OnEnable()
+    {
+        SetMode(m_Mode);
+        GetComponent<ARPointCloudManager>().pointCloudsChanged += OnPointCloudsChanged;
+    }
+
+    StringBuilder m_StringBuilder = new StringBuilder();
+
+    void OnPointCloudsChanged(ARPointCloudChangedEventArgs eventArgs)
+    {
+        m_StringBuilder.Clear();
+        foreach (var pointCloud in eventArgs.updated)
+        {
+            m_StringBuilder.Append($"\n{pointCloud.trackableId}: ");
+            if (m_Mode == ARAllPointCloudPointsParticleVisualizer.Mode.CurrentFrame)
+            {
+                if (pointCloud.positions.HasValue)
+                {
+                    m_StringBuilder.Append($"{pointCloud.positions.Value.Length}");
+                }
+                else
+                {
+                    m_StringBuilder.Append("0");
+                }
+
+                m_StringBuilder.Append(" points in current frame.");
+            }
+            else
+            {
+                var visualizer = pointCloud.GetComponent<ARAllPointCloudPointsParticleVisualizer>();
+                if (visualizer)
+                {
+                    m_StringBuilder.Append($"{visualizer.totalPointCount} total points");
+                }
+            }
+        }
+        if (log)
+        {
+            log.text = m_StringBuilder.ToString();
+        }
+    }
+
+    void SetMode(ARAllPointCloudPointsParticleVisualizer.Mode mode)
+    {
+        m_Mode = mode;
+        if (toggleButton)
+        {
+            var text = toggleButton.GetComponentInChildren<Text>();
+            switch (mode)
+            {
+                case ARAllPointCloudPointsParticleVisualizer.Mode.All:
+                    text.text = "All";
+                    break;
+                case ARAllPointCloudPointsParticleVisualizer.Mode.CurrentFrame:
+                    text.text = "Current Frame";
+                    break;
+            }
+        }
+
+        var manager = GetComponent<ARPointCloudManager>();
+        foreach (var pointCloud in manager.trackables)
+        {
+            var visualizer = pointCloud.GetComponent<ARAllPointCloudPointsParticleVisualizer>();
+            if (visualizer)
+            {
+                visualizer.mode = mode;
+            }
+        }
+    }
+}

Assets/Scenes/PointCloud/SwitchPointCloudVisualizationMode.cs.meta

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