private void Log(bool isLocalizationRequest)
{
Data data = new Data();
data.XrCamPos = XRSessionManager.GetSession().GetXRCameraPosition();
data.XrCamOrient = XRSessionManager.GetSession().GetXRCameraOrientation();
data.GpsPos = XRSessionManager.GetSession().GetXRCameraLocation();
data.GpsOrient = OrientationUtils.UnityToWorld(XRSessionManager.GetSession().GetXRCameraOrientation());
data.ProjectionMatrix = XRSessionManager.GetSession().VideoProvider.GetProjectionMatrix();
data.TimeStamp = DateTime.Now.ToString("O");
data.IsLocalizationRequest = isLocalizationRequest;
_datas.Add(data);
string jsonData = JsonHelper.ToJson <Data>(_datas.ToArray());
File.WriteAllText(_path, jsonData);
//Debug.Log("XR Cam Position: " + XRSessionManager.GetSession().GetXRCameraPosition());
//Debug.Log("XR Cam Orientation: " + XRSessionManager.GetSession().GetXRCameraOrientation());
//Debug.Log("GPS Position: " + XRSessionManager.GetSession().GetXRCameraLocation());
//Debug.Log("GPS Orientation" + OrientationUtils.UnityToWorld(XRSessionManager.GetSession().GetXRCameraOrientation()));
//Debug.Log("XR Cam Projection Matrix: " + XRSessionManager.GetSession().GetXRCameraPosition());
//Debug.Log("Localization Request: " + isLocalizationRequest);
//Debug.Log("Time Stamp: " + DateTime.Now.ToString("O"));
}
/// <summary>
/// Rotates a point based on orientation correction received from VPS service.
/// </summary>
/// <returns>The point.</returns>
/// <param name="pos">Position.</param>
private static Vector3 RotatePoint(Vector3 pos)
{
Vector3 rotatedPos = new Vector3();
//Create a parent object to rotate pos around this object
GameObject parent = new GameObject();
GameObject posToRotate = new GameObject();
posToRotate.transform.parent = parent.transform;
//Before rotation
posToRotate.transform.position = pos;
//GetOrientationCorrection() is identity before Localization
Quaternion rotInWorld = XRSessionManager.GetSession().GetOrientationCorrection() * OrientationUtils.UnityToWorld(parent.transform.rotation);
//Rotate parent object which will rotate its child(posToRotate) around it
parent.transform.rotation = OrientationUtils.WorldToUnity(rotInWorld);
rotatedPos = posToRotate.transform.position; // Unity WorldPos of pos
Destroy(posToRotate);
Destroy(parent);
return(rotatedPos);
}
/// <summary>
/// Rotates a point based on orientation correction received from VPS service.
/// </summary>
/// <returns>The point.</returns>
/// <param name="point">Position.</param>
private static Vector3 RotatePoint(Vector3 point, bool useCompass = true)
{
// Ar orgin where all values recieved rom Arcore/Arkit will be under this origin
GameObject arOrigin = new GameObject("ArOrigin");
// Create a child Gameobject and set its localPosition to the point we get from ArCore/ArKit
GameObject pointGO = new GameObject("Point");
pointGO.transform.parent = arOrigin.transform;
pointGO.transform.localPosition = point;
pointGO.transform.localRotation = Quaternion.identity;
if (useCompass)
{
// First rotate this origin to align with trueHeading received from sensor
arOrigin.transform.rotation = Quaternion.Euler(0, ArWorldTracking.TrueHeading, 0);
}
// Then rotate this again based on offset received from VPS Service
Quaternion rotInWorld = XRSessionManager.GetSession().GetYawOrientationCorrection() * OrientationUtils.UnityToWorld(arOrigin.transform.rotation) * XRSessionManager.GetSession().GetPitchOrientationCorrection();
arOrigin.transform.rotation = OrientationUtils.WorldToUnity(rotInWorld);
var rotatedPos = pointGO.transform.position; // Unity WorldPos of pos
Destroy(arOrigin);
Destroy(pointGO);
return(rotatedPos);
}