public override IEnumerator Localize()
{
XRCameraImage image;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = ARHelper.GetIntrinsics();
ARHelper.GetPlaneData(out pixels, image);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, image.width, image.height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapId = t.Result;
if (mapId >= 0 && ARSpace.mapIdToOffset.ContainsKey(mapId))
{
if (mapId != lastLocalizedMapId)
{
if (m_ResetOnMapChange)
{
foreach (KeyValuePair <Transform, SpaceContainer> item in ARSpace.transformToSpace)
{
item.Value.filter.ResetFiltering();
}
}
lastLocalizedMapId = mapId;
}
ARHelper.GetRotation(ref rot);
MapOffset mo = ARSpace.mapIdToOffset[mapId];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
stats.localizationSuccessCount++;
Matrix4x4 cloudSpace = mo.offset * Matrix4x4.TRS(pos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
}
}
yield return(StartCoroutine(base.Localize()));
}
private IEnumerator Localize()
{
XRCameraImage image;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
{
Camera cam = Camera.main;
m_stats.localizationAttemptCount++;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
Vector4 intrinsics = ARHelper.GetIntrinsics(cameraManager);
int width = image.width;
int height = image.height;
byte[] pixels;
ARHelper.GetPlaneData(out pixels, image);
image.Dispose();
Vector3 pos = Vector3.zero;
Quaternion rot = Quaternion.identity;
float startTime = Time.realtimeSinceStartup;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, width, height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapHandle = t.Result;
if (mapHandle >= 0 && m_MapIdToOffset.ContainsKey(mapHandle))
{
ARHelper.GetRotation(ref rot);
MapOffset mo = m_MapIdToOffset[mapHandle];
float elapsedTime = Time.realtimeSinceStartup - startTime;
Debug.Log(string.Format("Relocalised in {0} seconds", elapsedTime));
m_stats.localizationSuccessCount++;
Matrix4x4 cloudSpace = mo.offset * Matrix4x4.TRS(pos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
}
if (m_debugText != null)
{
m_debugText.text = string.Format("Successful localizations: {0}/{1}", m_stats.localizationSuccessCount, m_stats.localizationAttemptCount);
}
else
{
Debug.Log(string.Format("Successful localizations: {0}/{1}", m_stats.localizationSuccessCount, m_stats.localizationAttemptCount));
}
}
m_bIsLocalizing = false;
}
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);
}