EasyAR稠密空间图

1.稠密空间图

EasyAR稠密空间地图利用RGB相机图像对周围环境进行三维稠密重建，得到稠密的点云地图和网格地图。利用稠密空间地图让虚拟物体更好的融入真实环境之中，用以实现真实物体和虚拟物体正确遮挡、碰撞等AR应用。

2.在Unity中的构建

代码编写

    public GameObject prefab;
    public DenseSpatialMapBuilderFrameFilter dense;

    private void Start()
    {
        dense.MeshColor = Color.gray;
    }

    private void Update()
    {
        if(Input.GetMouseButtonDown(0)&&Input.touchCount>0
            &&!EventSystem.current.IsPointerOverGameObject(Input.GetTouch(0).fingerId))
        {
            Ray ray = Camera.main.ScreenPointToRay(Input.touches[0].position);
            var point = Camera.main.transform;
            var ball = Instantiate(prefab,point.position,point.rotation);
            var rigid = ball.GetComponent<Rigidbody>();
            rigid.velocity = Vector3.zero;
            rigid.AddForce(ray.direction * 15f + Vector3.up*5f);
        }
    }

    public void MeshRender(bool Show)
    {
        dense.RenderMesh = Show;
    }

    public void ClearRender(bool clear)
    {
        dense.MeshColor = Color.clear;
    }