public override async void LocalizeServer()
{
bool rgb = false;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
XRCameraImage image;
if (cameraSubsystem.TryGetLatestImage(out image))
#else
XRCpuImage image;
if (cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
JobLocalizeServerAsync j = new JobLocalizeServerAsync();
if (mapperSettings.serverLocalizationWithIds)
{
int n = pcr.Count;
j.mapIds = new SDKMapId[n];
int count = 0;
foreach (int id in pcr.Keys)
{
j.mapIds[count] = new SDKMapId();
j.mapIds[count++].id = id;
}
}
else
{
j.useGPS = true;
j.latitude = m_Latitude;
j.longitude = m_Longitude;
j.radius = DefaultRadius;
}
byte[] pixels;
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
int channels = 1;
int width = image.width;
int height = image.height;
j.rotation = camRot;
j.position = camPos;
j.param1 = mapperSettings.param1;
j.param2 = mapperSettings.param2;
j.param3 = mapperSettings.param3;
j.param4 = mapperSettings.param4;
ARHelper.GetIntrinsics(out j.intrinsics);
if (rgb)
{
ARHelper.GetPlaneDataRGB(out pixels, image);
channels = 3;
}
else
{
ARHelper.GetPlaneData(out pixels, image);
}
Task <(byte[], icvCaptureInfo)> t = Task.Run(() =>
{
byte[] capture = new byte[channels * width * height + 1024];
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
Array.Resize(ref capture, info.captureSize);
return(capture, info);
});
await t;
j.image = t.Result.Item1;
j.OnResult += (SDKLocalizeResult result) =>
{
if (result.success)
{
Matrix4x4 m = Matrix4x4.identity;
Matrix4x4 cloudSpace = Matrix4x4.identity;
cloudSpace.m00 = result.r00; cloudSpace.m01 = result.r01; cloudSpace.m02 = result.r02; cloudSpace.m03 = result.px;
cloudSpace.m10 = result.r10; cloudSpace.m11 = result.r11; cloudSpace.m12 = result.r12; cloudSpace.m13 = result.py;
cloudSpace.m20 = result.r20; cloudSpace.m21 = result.r21; cloudSpace.m22 = result.r22; cloudSpace.m23 = result.pz;
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
this.stats.locSucc++;
Debug.Log("*************************** On-Server Localization Succeeded ***************************");
Debug.Log(string.Format("params: {0}, {1}, {2}, {3}", j.param1, j.param2, j.param3, j.param4));
Debug.Log("fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
m = trackerSpace * (cloudSpace.inverse);
foreach (KeyValuePair <int, PointCloudRenderer> p in this.pcr)
{
if (p.Key == result.map)
{
p.Value.go.transform.position = m.GetColumn(3);
p.Value.go.transform.rotation = m.rotation;
break;
}
}
JobEcefAsync je = new JobEcefAsync();
je.id = result.map;
je.OnResult += (SDKEcefResult result2) =>
{
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, result.map, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, result2.ecef);
this.lastLocalizedPose = lastLocalizedPose;
};
m_Jobs.Add(je.RunJobAsync());
}
else
{
this.stats.locFail++;
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
};
m_Jobs.Add(j.RunJobAsync());
image.Dispose();
}
}
public override async void LocalizeServer(SDKMapId[] mapIds)
{
#if PLATFORM_LUMIN
XRCameraImage image;
#else
XRCpuImage image;
#endif
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
if (cameraSubsystem.TryGetLatestImage(out image))
#else
if (cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
stats.localizationAttemptCount++;
JobLocalizeServerAsync j = new JobLocalizeServerAsync();
byte[] pixels;
Camera cam = Camera.main;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
Vector4 intrinsics;
int channels = 1;
int width = image.width;
int height = image.height;
ARHelper.GetIntrinsics(out intrinsics);
ARHelper.GetPlaneData(out pixels, image);
float startTime = Time.realtimeSinceStartup;
Task <(byte[], icvCaptureInfo)> t = Task.Run(() =>
{
byte[] capture = new byte[channels * width * height + 1024];
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
Array.Resize(ref capture, info.captureSize);
return(capture, info);
});
await t;
j.image = t.Result.Item1;
j.position = camPos;
j.rotation = camRot;
j.intrinsics = intrinsics;
j.mapIds = mapIds;
j.OnResult += async(SDKLocalizeResult result) =>
{
float elapsedTime = Time.realtimeSinceStartup - startTime;
if (result.success)
{
Debug.Log("*************************** On-Server Localization Succeeded ***************************");
Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
int mapServerId = result.map;
if (mapServerId > 0 && ARSpace.mapHandleToOffset.ContainsKey(mapServerId))
{
if (mapServerId != lastLocalizedMapHandle)
{
if (resetOnMapChange)
{
Reset();
}
lastLocalizedMapHandle = mapServerId;
OnMapChanged?.Invoke(mapServerId);
}
MapOffset mo = ARSpace.mapHandleToOffset[mapServerId];
stats.localizationSuccessCount++;
Matrix4x4 responseMatrix = Matrix4x4.identity;
responseMatrix.m00 = result.r00; responseMatrix.m01 = result.r01; responseMatrix.m02 = result.r02; responseMatrix.m03 = result.px;
responseMatrix.m10 = result.r10; responseMatrix.m11 = result.r11; responseMatrix.m12 = result.r12; responseMatrix.m13 = result.py;
responseMatrix.m20 = result.r20; responseMatrix.m21 = result.r21; responseMatrix.m22 = result.r22; responseMatrix.m23 = result.pz;
Vector3 pos = responseMatrix.GetColumn(3);
Quaternion rot = responseMatrix.rotation;
ARHelper.GetRotation(ref rot);
Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = Vector3.Scale(pos, mo.scale);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
if (useFiltering)
{
mo.space.filter.RefinePose(m);
}
else
{
ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
}
JobEcefAsync je = new JobEcefAsync();
je.id = mapServerId;
je.OnResult += (SDKEcefResult result2) =>
{
LocalizerPose localizerPose;
LocalizerBase.GetLocalizerPose(out localizerPose, mapServerId, pos, rot, m.inverse, result2.ecef);
OnPoseFound?.Invoke(localizerPose);
};
await je.RunJobAsync();
if (ARSpace.mapHandleToMap.ContainsKey(mapServerId))
{
ARMap map = ARSpace.mapHandleToMap[mapServerId];
map.NotifySuccessfulLocalization(mapServerId);
}
}
else
{
Debug.Log(string.Format("Localization attempt failed after {0} seconds", elapsedTime));
}
}
else
{
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
};
await j.RunJobAsync();
image.Dispose();
}
base.LocalizeServer(mapIds);
}
