public unsafe void RequestLocalization()
{
if (sentrequestCount < maximumRequestinSession)
{
Debug.Log(" >>>>>> RequestLocalization <<<<<<< " + cloudMaps.Count);
m_Sdk.GetComponent <MultiMapAssetImporter>().RemoveARAnchors();
loaderText.text = "Localizing...";
XRCameraIntrinsics intr;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryGetIntrinsics(out intr) && cameraManager.TryAcquireLatestCpuImage(out XRCpuImage image))
{
//Debug.Log("Cloud ID >>>>>>>>>>>>>>> : " + cloud_id);
var format = TextureFormat.RGB24;
if (m_Texture == null || m_Texture.width != image.width || m_Texture.height != image.height)
{
m_Texture = new Texture2D(image.width, image.height, format, false);
}
// Convert the image to format, flipping the image across the Y axis.
// We can also get a sub rectangle, but we'll get the full image here.
var conversionParams = new XRCpuImage.ConversionParams(image, format, XRCpuImage.Transformation.MirrorX);
// Texture2D allows us write directly to the raw texture data
// This allows us to do the conversion in-place without making any copies.
var rawTextureData = m_Texture.GetRawTextureData <byte>();
try
{
image.Convert(conversionParams, new IntPtr(rawTextureData.GetUnsafePtr()), rawTextureData.Length);
}
finally
{
// We must dispose of the XRCameraImage after we're finished
// with it to avoid leaking native resources.
image.Dispose();
}
// Apply the updated texture data to our texture
m_Texture.Apply();
//show requeset counts..
loc_attempts_txt.GetComponent <TMP_Text>().enabled = true;
loc_map_txt.GetComponent <TMP_Text>().enabled = true;
byte[] _bytesjpg = m_Texture.EncodeToJPG();
loc_map_txt.text = "";
Debug.Log("TotalMaps: " + cloudMaps.Count);
LocalizationRequestwithToken lr = new LocalizationRequestwithToken();
lr.developer_token = m_Sdk.developerToken;
lr.cloud_Ids = cloudMaps;
lr.width = image.width;
lr.height = image.height;
lr.channel = 3;
lr.Camera_fx = intr.focalLength.x;
lr.Camera_fy = intr.focalLength.y;
lr.Camera_px = intr.principalPoint.x;
lr.Camera_py = intr.principalPoint.y;
lr.version = m_Sdk.arwaysdkversion;
lr.image = Convert.ToBase64String(_bytesjpg);
lr.timestamp = image.timestamp;
ArCameraOffset arCameraOffset = new ArCameraOffset
{
position = ARCamera.transform.position,
rotation = ARCamera.transform.rotation
};
ArCameraPoseQueue.Enqueue(arCameraOffset);
string loc_request_data = JsonUtility.ToJson(lr);
SendCameraImages(loc_request_data);
sentrequestCount++;
}
}
else
{
CancelInvoke("RequestLocalization");
}
}
public async void ConnectWS()
{
websocket.OnOpen += () =>
{
Debug.Log("Connection open!");
Invoke("RequestLocalization", 1f);
if (isFirstRequest)
{
connectionLoaderPanel.SetActive(true);
}
};
websocket.OnError += (e) =>
{
Debug.Log("Error! " + e);
//hide loader panel..
loaderPanel.SetActive(false);
if (isFirstRequest)
{
connectionLoaderPanel.SetActive(false);
}
};
websocket.OnClose += (e) =>
{
Debug.Log("Connection closed!");
//hide loader panel..
loaderPanel.SetActive(false);
if (isFirstRequest)
{
connectionLoaderPanel.SetActive(false);
}
};
websocket.OnMessage += (bytes) =>
{
Debug.Log("OnMessage!");
Vector3 camPos;
Quaternion camRot;
if (isFirstRequest)
{
connectionLoaderPanel.SetActive(false);
isFirstRequest = false;
InvokeRepeating("RequestLocalization", 1f, localizationFrequency);
StartCoroutine(showInstructions());
}
if (ArCameraPoseQueue.Count > 0)
{
ArCameraOffset arCameraOffset = new ArCameraOffset();
arCameraOffset = ArCameraPoseQueue.Dequeue();
camPos = arCameraOffset.position;
camRot = arCameraOffset.rotation;
//hide loader panel..
loaderPanel.SetActive(false);
// getting the message as a string
var Response = System.Text.Encoding.UTF8.GetString(bytes);
requestCount++;
LocalizationResponse localization = JsonUtility.FromJson <LocalizationResponse>(Response);
Debug.Log(localization);
if (localization.poseAvailable == true)
{
counts += 1;
poseSetterGO.GetComponent <PoseSetter>().poseHandlerMultiMap(localization, camPos, camRot);
if (vibrateOnLocalize)
{
Handheld.Vibrate();
}
CancelInvoke("RequestLocalization");
m_Sdk.GetComponent <MultiMapAssetImporter>().AddARAnchors();
}
loc_attempts_txt.text = "Localization attempts: " + counts + " / " + requestCount;
// show ARSpace GameObject if counts > 0
if (counts > 0)
{
ArSpace.SetActive(true);
destinationDropdown.SetActive(true);
}
}
};
// waiting for messages
await websocket.Connect();
}
