public override IEnumerator Localize()
{
ARCameraImageBytes image = null;
bool isHD = HWARHelper.TryGetCameraImageBytes(out image);
if (image != null && image.IsAvailable)
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height);
HWARHelper.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;
OnMapChanged?.Invoke(mapId);
}
HWARHelper.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 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
Vector3 scaledPos = new Vector3
(
pos.x * mo.scale.x,
pos.y * mo.scale.y,
pos.z * mo.scale.z
);
Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
mo.space.filter.RefinePose(m);
LocalizerPose localizerPose;
GetLocalizerPose(out localizerPose, mapId, pos, rot, m.inverse);
OnPoseFound?.Invoke(localizerPose);
}
}
yield return(StartCoroutine(base.Localize()));
}
public override IEnumerator Localize()
{
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)
{
stats.localizationAttemptCount++;
Vector3 camPos = m_Cam.transform.position;
Quaternion camRot = m_Cam.transform.rotation;
byte[] pixels;
Vector4 intrinsics = HWARHelper.GetIntrinsics();
HWARHelper.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;
}
HWARHelper.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()));
}