public override void Localize() { ARCameraImageBytes image = null; bool isHD = HWARHelper.TryGetCameraImageBytes(out image); if (image != null && image.IsAvailable) { CoroutineJobLocalize j = new CoroutineJobLocalize(); Camera cam = this.mainCamera; Vector3 camPos = cam.transform.position; Quaternion camRot = cam.transform.rotation; j.intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height); j.width = image.Width; j.height = image.Height; j.rotation = camRot; j.position = camPos; j.OnSuccess += (int mapId, Vector3 position, Quaternion rotation) => { this.stats.locSucc++; Debug.Log("*************************** Localization Succeeded ***************************"); Matrix4x4 cloudSpace = Matrix4x4.TRS(position, rotation, Vector3.one); Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one); Debug.Log("id " + mapId + "\n" + "fc 4x4\n" + cloudSpace + "\n" + "ft 4x4\n" + trackerSpace); Matrix4x4 m = trackerSpace * (cloudSpace.inverse); LocalizerPose lastLocalizedPose; LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, position, rotation, m.inverse); this.lastLocalizedPose = lastLocalizedPose; foreach (PointCloudRenderer p in this.pcr.Values) { if (p.mapId == mapId) { p.go.transform.position = m.GetColumn(3); p.go.transform.rotation = m.rotation; break; } } }; j.OnFail += () => { this.stats.locFail++; Debug.Log("*************************** Localization Failed ***************************"); }; HWARHelper.GetPlaneData(out j.pixels, image); m_Jobs.Add(j); image.Dispose(); } }
private void Update() { bool trackingQualityAvailable = false; if (ImmersalSDK.isHWAR) { #if HWAR trackingQualityAvailable = HWARHelper.TryGetTrackingQuality(out m_SLAMTrackingQuality); #endif } else { trackingQualityAvailable = ARHelper.TryGetTrackingQuality(out m_SLAMTrackingQuality); } if (trackingQualityAvailable && this.Localizer != null) { LocalizerStats stats = this.Localizer.stats; if (stats.localizationAttemptCount > 0) { int q = CurrentResults(stats.localizationSuccessCount); if (q > m_SLAMTrackingQuality) { q = m_SLAMTrackingQuality; } if (!m_HasPose && q > 1) { m_HasPose = true; onPoseFound?.Invoke(); } if (m_HasPose && q < 1 && m_SLAMTrackingQuality == 0) { m_HasPose = false; onPoseLost?.Invoke(); } this.TrackingQuality = q; } } if (!isHWAR) { if (!m_bCamConfigDone && cameraManager != null) { ConfigureCamera(); } } }
public override void LocalizeServer() { ARCameraImageBytes image = null; if (m_Sdk.androidResolution == ImmersalSDK.CameraResolution.Max) { try { image = ARFrame.AcquirPreviewImageBytes(); } catch (NullReferenceException e) { Debug.LogError("Cannot acquire FullHD image: " + e.Message); image = ARFrame.AcquireCameraImageBytes(); } } else { image = ARFrame.AcquireCameraImageBytes(); } if (image != null && image.IsAvailable) { CoroutineJobLocalizeServer j = new CoroutineJobLocalizeServer(); j.host = this; if (this.useGPS) { j.useGPS = true; j.latitude = m_Latitude; j.longitude = m_Longitude; j.radius = DefaultRadius; } Camera cam = this.mainCamera; j.rotation = cam.transform.rotation; j.position = cam.transform.position; j.intrinsics = HWARHelper.GetIntrinsics(); j.width = image.Width; j.height = image.Height; HWARHelper.GetPlaneData(out j.pixels, image); j.channels = 1; m_Jobs.Add(j); image.Dispose(); } }
protected override IEnumerator Capture(bool anchor) { yield return(new WaitForSeconds(0.25f)); m_bCaptureRunning = true; ARCameraImageBytes image = null; if (m_Sdk.androidResolution == ImmersalSDK.CameraResolution.Max) { try { image = ARFrame.AcquirPreviewImageBytes(); } catch (NullReferenceException e) { Debug.LogError("Cannot acquire FullHD image: " + e.Message); image = ARFrame.AcquireCameraImageBytes(); } } else { image = ARFrame.AcquireCameraImageBytes(); } if (image != null && image.IsAvailable) { CoroutineJobCapture j = new CoroutineJobCapture(); j.host = this; j.run = (int)(m_ImageRun & 0xEFFFFFFF); j.index = m_ImageIndex++; j.anchor = anchor; if (useGPS) { j.latitude = m_Latitude; j.longitude = m_Longitude; j.altitude = m_Altitude; } else { j.latitude = j.longitude = j.altitude = 0.0; } Camera cam = this.mainCamera; Quaternion _q = cam.transform.rotation; Matrix4x4 r = Matrix4x4.Rotate(new Quaternion(_q.x, _q.y, -_q.z, -_q.w)); Vector3 _p = cam.transform.position; Vector3 p = new Vector3(_p.x, _p.y, -_p.z); j.rotation = r; j.position = p; j.intrinsics = HWARHelper.GetIntrinsics(); j.width = image.Width; j.height = image.Height; HWARHelper.GetPlaneData(out j.pixels, image); j.channels = 1; if (m_SessionFirstImage) { m_SessionFirstImage = false; } m_Jobs.Add(j); image.Dispose(); } m_bCaptureRunning = false; var captureButton = workspaceManager.captureButton.GetComponent <Button>(); captureButton.interactable = true; }
protected override IEnumerator Capture(bool anchor) { yield return(new WaitForSeconds(0.25f)); m_bCaptureRunning = true; float captureStartTime = Time.realtimeSinceStartup; float uploadStartTime = Time.realtimeSinceStartup; ARCameraImageBytes image = null; bool isHD = HWARHelper.TryGetCameraImageBytes(out image); if (image != null && image.IsAvailable) { CoroutineJobCapture j = new CoroutineJobCapture(); j.host = this; j.run = (int)(m_ImageRun & 0xEFFFFFFF); j.index = m_ImageIndex++; j.anchor = anchor; if (gpsOn) { j.latitude = m_Latitude; j.longitude = m_Longitude; j.altitude = m_Altitude; } else { j.latitude = j.longitude = j.altitude = 0.0; } Camera cam = this.mainCamera; Quaternion _q = cam.transform.rotation; Matrix4x4 r = Matrix4x4.Rotate(new Quaternion(_q.x, _q.y, -_q.z, -_q.w)); Vector3 _p = cam.transform.position; Vector3 p = new Vector3(_p.x, _p.y, -_p.z); j.rotation = r; j.position = p; j.intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height); int width = image.Width; int height = image.Height; byte[] pixels; int channels = 0; HWARHelper.GetPlaneData(out pixels, image); channels = 1; byte[] capture = new byte[channels * width * height + 1024]; Task <(string, icvCaptureInfo)> t = Task.Run(() => { icvCaptureInfo info = Core.CaptureImage(capture, capture.Length, pixels, width, height, channels); return(Convert.ToBase64String(capture, 0, info.captureSize), info); }); while (!t.IsCompleted) { yield return(null); } j.encodedImage = t.Result.Item1; NotifyIfConnected(t.Result.Item2); if (m_SessionFirstImage) { m_SessionFirstImage = false; } j.OnStart += () => { uploadStartTime = Time.realtimeSinceStartup; mappingUIManager.SetProgress(0); mappingUIManager.ShowProgressBar(); }; j.OnSuccess += (SDKImageResult result) => { if (result.error == "none") { float et = Time.realtimeSinceStartup - uploadStartTime; Debug.Log(string.Format("Image uploaded successfully in {0} seconds", et)); } mappingUIManager.HideProgressBar(); }; j.OnProgress += (float progress) => { int value = (int)(100f * progress); Debug.Log(string.Format("Upload progress: {0}%", value)); mappingUIManager.SetProgress(value); }; m_Jobs.Add(j); image.Dispose(); float elapsedTime = Time.realtimeSinceStartup - captureStartTime; Debug.Log(string.Format("Capture in {0} seconds", elapsedTime)); } m_bCaptureRunning = false; var captureButton = workspaceManager.captureButton.GetComponent <Button>(); captureButton.interactable = true; }
public override void LocalizeServer() { ARCameraImageBytes image = null; bool isHD = HWARHelper.TryGetCameraImageBytes(out image); if (image != null && image.IsAvailable) { CoroutineJobLocalizeServer j = new CoroutineJobLocalizeServer(); if (gpsOn) { j.useGPS = true; j.latitude = m_Latitude; j.longitude = m_Longitude; j.radius = DefaultRadius; } else { 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; } } Camera cam = this.mainCamera; Vector3 camPos = cam.transform.position; Quaternion camRot = cam.transform.rotation; j.host = this; j.rotation = camRot; j.position = camPos; j.intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height); j.width = image.Width; j.height = image.Height; HWARHelper.GetPlaneData(out j.pixels, image); j.channels = 1; j.OnResult += (SDKLocalizeResult result) => { /*if (result.error == "none") * {*/ 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("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; } } CoroutineJobEcef je = new CoroutineJobEcef(); je.host = this; je.id = result.map; je.OnSuccess += (SDKEcefResult result2) => { if (result2.error == "none") { Debug.Log(result2.ecef); LocalizerPose lastLocalizedPose; LocalizerBase.GetLocalizerPose(out lastLocalizedPose, result.map, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, result2.ecef); this.lastLocalizedPose = lastLocalizedPose; } else { Debug.LogError(result2.error); } }; m_Jobs.Add(je); } else { this.stats.locFail++; Debug.Log("*************************** On-Server Localization Failed ***************************"); } /*} * else * { * Debug.LogError(result.error); * }*/ }; m_Jobs.Add(j); image.Dispose(); } }
void Update() { bool ok = false; if (ImmersalSDK.isHWAR) { #if HWAR ok = HWARHelper.TryGetTrackingQuality(out m_TrackingQuality); #endif } else { ok = ARHelper.TryGetTrackingQuality(out m_TrackingQuality); } if (ok) { LocalizerStats stats = m_Localizer.stats; if (stats.localizationAttemptCount > 0) { int q = CurrentResults(stats.localizationSuccessCount); if (q > m_TrackingQuality) { q = m_TrackingQuality; } if (!m_HasPose && q > 1) { m_HasPose = true; onPoseFound?.Invoke(); } if (m_HasPose && q < 1 && m_TrackingQuality == 0) { m_HasPose = false; onPoseLost?.Invoke(); } if (indicatorMode == IndicatorMode.multiplyColor) { switch (q) { case 0: m_Image.color = noPose; break; case 1: m_Image.color = weakPose; break; case 2: m_Image.color = goodPose; break; default: m_Image.color = excellentPose; break; } } else if (indicatorMode == IndicatorMode.changeSprite) { switch (q) { case 0: m_Image.sprite = noPoseSprite; break; case 1: m_Image.sprite = weakPoseSprite; break; case 2: m_Image.sprite = goodPoseSprite; break; default: m_Image.sprite = excellentPoseSprite; break; } } } } }