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); }