为什么项目运行时区域目标会混淆并重叠？

Question

我正在使用 AR 与 Vuforia 进行“室内导航”项目，我已使用“Vuforia Area Target Creator”应用程序扫描了地图。我已将区域目标导入到 unity，并创建了 NavMesh。我正在关注：https://library.vuforia.com/develop-area-targets/multiple-area-targets。我还创建了 NavMeshAgent 和目的地，但是当我运行项目时，区域目标重叠并且 NavMeshAgent 无法通过，问题是什么？

MultiArea 代码（如上面链接所述）：

using System.Collections.Generic;
using UnityEngine;
using Vuforia;

public class MultiArea : MonoBehaviour
{
    #region PUBLIC_MEMBER_VARIABLES

    public bool hideAugmentationsWhenNotTracked = true;
    
    #endregion PUBLIC_MEMBER_VARIABLES
    #region PRIVATE_MEMBER_VARS

    /// <summary>
    /// Trackable poses relative to the MultiArea root
    /// </summary>
    private readonly Dictionary<string, Matrix4x4> mPoses = new Dictionary<string, Matrix4x4>();
    private bool m_Tracked = false;

    #endregion PRIVATE_MEMBER_VARS
    #region UNITY_MONOBEHAVIOUR_METHODS
// Start is called before the first frame update
void Start()
{
    var areaTargets = GetComponentsInChildren<AreaTargetBehaviour>(includeInactive: true);
    foreach (var at in areaTargets)
    {
        // Remember the relative pose of each AT to the group root node
        var matrix = GetFromToMatrix(at.transform, transform);
        mPoses[at.TargetName] = matrix;
        Debug.Log("Original pose: " + at.TargetName + "\n" + matrix.ToString(""));

        // Detach augmentation and re-parent it under the group root node
        for (int i = at.transform.childCount - 1; i >= 0; i--)
        {
            var child = at.transform.GetChild(i);
            child.SetParent(transform, worldPositionStays: true);
        }

        if (hideAugmentationsWhenNotTracked)
        {
            ShowAugmentations(false);
        }
    }
}

// Update is called once per frame
void Update()
{
    if (!VuforiaApplication.Instance.IsRunning)
    {
        return;
    }

    // Find current "best tracked" Area Target
    var atb = GetBestTrackedAreaTarget();
    if (!atb)
    {
        if (m_Tracked)
        {
            m_Tracked = false;
            if (hideAugmentationsWhenNotTracked)
            {
                ShowAugmentations(false);
            }
        }
        return;
    }

    if (!m_Tracked)
    {
        m_Tracked = true;
        ShowAugmentations(true);
    }

    if (GetGroupPoseFromAreaTarget(atb, out Matrix4x4 groupPose))
    {
        // set new group pose
        transform.position = groupPose.GetColumn(3);
        transform.rotation = Quaternion.LookRotation(groupPose.GetColumn(2), groupPose.GetColumn(1));
    }
}

#endregion UNITY_MONOBEHAVIOUR_METHODS



#region PRIVATE_METHODS

private void ShowAugmentations(bool show)
{
    var renderers = GetComponentsInChildren<Renderer>();
    foreach (var rnd in renderers)
    {
        rnd.enabled = show;
    }
}

private AreaTargetBehaviour GetBestTrackedAreaTarget()
{
    var trackedAreaTargets = GetTrackedAreaTargets(includeLimited: true);
    if (trackedAreaTargets.Count == 0)
    {
        return null;
    }

    // look for extended/tracked targets
    foreach (var at in trackedAreaTargets)
    {
        if (at.TargetStatus.Status == Status.TRACKED ||
            at.TargetStatus.Status == Status.EXTENDED_TRACKED)
        {
            return at;
        }
    }

    // if no target in EXT/TRACKED was found,
    // then fallback to any other target
    // i.e. including LIMITED ones;
    // just report the first in the list
    return trackedAreaTargets[0];
}

private List<AreaTargetBehaviour> GetTrackedAreaTargets(bool includeLimited = false)
{
    var trackedTargets = new List<AreaTargetBehaviour>();
    var activeAreaTargets = FindObjectsOfType<AreaTargetBehaviour>();
    foreach (var target in activeAreaTargets)
    {
        if (target.enabled &&
            (target.TargetStatus.Status == Status.TRACKED ||
            target.TargetStatus.Status == Status.EXTENDED_TRACKED ||
            (includeLimited && target.TargetStatus.Status == Status.LIMITED)))
        {
            trackedTargets.Add(target);
        }
    }
    return trackedTargets;
}

private bool GetGroupPoseFromAreaTarget(AreaTargetBehaviour atb, out Matrix4x4 groupPose)
{
    groupPose = Matrix4x4.identity;
    if (mPoses.TryGetValue(atb.TargetName, out Matrix4x4 areaTargetToGroup))
    {
        // Matrix of group root node w.r.t. AT
        var groupToAreaTarget = areaTargetToGroup.inverse;

        // Current atb matrix
        var areaTargetToWorld = atb.transform.localToWorldMatrix;
        groupPose = areaTargetToWorld * groupToAreaTarget;
        return true;
    }
    return false;
}

private static Matrix4x4 GetFromToMatrix(Transform from, Transform to)
{
    var m1 = from ? from.localToWorldMatrix : Matrix4x4.identity;
    var m2 = to ? to.worldToLocalMatrix : Matrix4x4.identity;
    return m2 * m1;
}

#endregion PRIVATE_METHODS

}

Answer 1

您可能将区域目标设置为静态，对吗？ 区域目标应该始终移动，因此即使您使用导航网格，它们也不能是静态的。 尝试将其更改为“静态导航”，然后使用“导航”菜单再次烘焙。 参考链接： https://library.vuforia.com/develop-area-targets/using-unitys-navmesh-navigation-area-targets

Answer 2

您是否设法将导航线添加到多区域，因为这里说 noraml 导航不起作用，我们应该添加 navmesh 运行时生成器。

注意：为了向具有多个区域目标的此类设置添加导航，您可以使用 Unity 的运行时 NavMesh 生成，而不是使用将 NavMesh 应用于单个区域目标的 Vuforia NavMesh 指南。

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