public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobListJobs ***************************");
BaseMapper mapper = host as BaseMapper;
SDKJobsRequest r = this.useGPS ? new SDKGeoJobsRequest() : new SDKJobsRequest();
r.token = mapper.token;
r.bank = mapper.currentBank;
if (this.useGPS)
{
SDKGeoJobsRequest gr = r as SDKGeoJobsRequest;
gr.latitude = this.latitude;
gr.longitude = this.longitude;
gr.radius = this.radius;
}
string jsonString = JsonUtility.ToJson(r);
string endpoint = this.useGPS ? Endpoint.LIST_GEOJOBS : Endpoint.LIST_JOBS;
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, endpoint), jsonString))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
SDKJobsResult result = JsonUtility.FromJson <SDKJobsResult>(request.downloadHandler.text);
if (result.error == "none")
{
mapper.visualizeManager.SetSelectSlotData(result.jobs, activeMaps);
}
}
}
}
public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobLoadMap ***************************");
BaseMapper mapper = host as BaseMapper;
SDKMapRequest r = new SDKMapRequest();
r.token = mapper.token;
r.id = this.id;
string jsonString2 = JsonUtility.ToJson(r);
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, Endpoint.LOAD_MAP), jsonString2))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
//Debug.Log("Response code: " + request.responseCode);
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
SDKMapResult result = JsonUtility.FromJson <SDKMapResult>(request.downloadHandler.text);
if (result.error == "none")
{
byte[] mapData = Convert.FromBase64String(result.b64);
Debug.Log("Load map " + this.id + " (" + mapData.Length + " bytes) (" + MD5(mapData) + "/" + result.md5_al + ")");
uint countMax = 16 * 1024;
Vector3[] vector3Array = new Vector3[countMax];
Task <int> t0 = Task.Run(() =>
{
return(Immersal.Core.LoadMap(mapData));
});
while (!t0.IsCompleted)
{
yield return(null);
}
int mapId = t0.Result;
Debug.Log("mapId " + mapId);
Task <int> t1 = Task.Run(() =>
{
return(Immersal.Core.GetPointCloud(mapId, vector3Array));
});
while (!t1.IsCompleted)
{
yield return(null);
}
int num = t1.Result;
Debug.Log("map points: " + num);
PointCloudRenderer renderer = go.AddComponent <PointCloudRenderer>();
renderer.CreateCloud(vector3Array, num);
renderer.mapId = mapId;
if (!mapper.pcr.ContainsKey(id))
{
mapper.pcr.Add(id, renderer);
}
mapper.stats.locFail = 0;
mapper.stats.locSucc = 0;
VisualizeManager.loadJobs.Remove(mapId);
}
}
}
}
public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobLocalize On-Server ***************************");
BaseMapper mapper = host as BaseMapper;
byte[] capture = new byte[channels * width * height + 1024];
Task <(string, icvCaptureInfo)> t = Task.Run(() =>
{
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
return(Convert.ToBase64String(capture, 0, info.captureSize), info);
});
while (!t.IsCompleted)
{
yield return(null);
}
string encodedImage = t.Result.Item1;
icvCaptureInfo captureInfo = t.Result.Item2;
SDKLocalizeRequest imageRequest = this.useGPS ? new SDKGeoLocalizeRequest() : new SDKLocalizeRequest();
imageRequest.token = mapper.token;
imageRequest.fx = intrinsics.x;
imageRequest.fy = intrinsics.y;
imageRequest.ox = intrinsics.z;
imageRequest.oy = intrinsics.w;
imageRequest.b64 = encodedImage;
if (this.useGPS)
{
SDKGeoLocalizeRequest gr = imageRequest as SDKGeoLocalizeRequest;
gr.latitude = this.latitude;
gr.longitude = this.longitude;
gr.radius = this.radius;
}
else
{
int n = mapper.pcr.Count;
imageRequest.mapIds = new SDKMapId[n];
int count = 0;
foreach (int id in mapper.pcr.Keys)
{
imageRequest.mapIds[count] = new SDKMapId();
imageRequest.mapIds[count++].id = id;
}
}
string jsonString = JsonUtility.ToJson(imageRequest);
string endpoint = this.useGPS ? Endpoint.SERVER_GEOLOCALIZE : Endpoint.SERVER_LOCALIZE;
SDKLocalizeResult locResult = new SDKLocalizeResult();
locResult.success = false;
Matrix4x4 m = new Matrix4x4();
Matrix4x4 cloudSpace = new Matrix4x4();
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, endpoint), jsonString))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
locResult = JsonUtility.FromJson <SDKLocalizeResult>(request.downloadHandler.text);
if (locResult.success)
{
cloudSpace = Matrix4x4.identity;
cloudSpace.m00 = locResult.r00; cloudSpace.m01 = locResult.r01; cloudSpace.m02 = locResult.r02; cloudSpace.m03 = locResult.px;
cloudSpace.m10 = locResult.r10; cloudSpace.m11 = locResult.r11; cloudSpace.m12 = locResult.r12; cloudSpace.m13 = locResult.py;
cloudSpace.m20 = locResult.r20; cloudSpace.m21 = locResult.r21; cloudSpace.m22 = locResult.r22; cloudSpace.m23 = locResult.pz;
Matrix4x4 trackerSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
mapper.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 mapper.pcr)
{
if (p.Key == locResult.map)
{
p.Value.go.transform.position = m.GetColumn(3);
p.Value.go.transform.rotation = m.rotation;
break;
}
}
Debug.Log(locResult.error);
}
else
{
mapper.stats.locFail++;
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
}
}
if (locResult.success)
{
SDKEcefRequest ecefRequest = new SDKEcefRequest();
ecefRequest.token = mapper.token;
ecefRequest.id = locResult.map;
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, Endpoint.SERVER_ECEF), JsonUtility.ToJson(ecefRequest)))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
SDKEcefResult result = JsonUtility.FromJson <SDKEcefResult>(request.downloadHandler.text);
Debug.Log(request.downloadHandler.text);
double[] wgs84 = new double[3];
Vector3 pos = cloudSpace.GetColumn(3);
Quaternion rot = cloudSpace.rotation;
int r = Immersal.Core.PosMapToWgs84(wgs84, pos, result.ecef);
mapper.vlatitude = wgs84[0];
mapper.vlongitude = wgs84[1];
mapper.valtitude = wgs84[2];
if (r == 0)
{
mapper.lastLocalizedPose = (true, result.ecef, m.inverse, new Pose(pos, rot));
}
}
}
}
}
public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobLocalize ***************************");
BaseMapper mapper = host as BaseMapper;
Vector3 pos = new Vector3();
Quaternion rot = new Quaternion();
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out pos, out rot, width, height, ref intrinsics, pixels));
});
while (!t.IsCompleted)
{
yield return(null);
}
int mapId = t.Result;
if (mapId >= 0)
{
mapper.stats.locSucc++;
Debug.Log("*************************** Localization Succeeded ***************************");
Matrix4x4 cloudSpace = Matrix4x4.TRS(pos, rot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
Debug.Log("id " + mapId + "\n" +
"fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
double[] mapToecef = new double[13];
double[] wgs84 = new double[3];
Immersal.Core.MapToEcefGet(mapToecef, mapId);
int r = Immersal.Core.PosMapToWgs84(wgs84, pos, mapToecef);
mapper.vlatitude = wgs84[0];
mapper.vlongitude = wgs84[1];
mapper.valtitude = wgs84[2];
if (r == 0)
{
mapper.lastLocalizedPose = (true, mapToecef, m.inverse, new Pose(pos, rot));
}
foreach (PointCloudRenderer p in mapper.pcr.Values)
{
if (p.mapId == mapId)
{
p.go.transform.position = m.GetColumn(3);
p.go.transform.rotation = m.rotation;
break;
}
}
}
else
{
mapper.stats.locFail++;
Debug.Log("*************************** Localization Failed ***************************");
}
}
public override IEnumerator RunJob()
{
Debug.Log("*************************** CoroutineJobCapture ***************************");
BaseMapper mapper = host as BaseMapper;
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);
}
string encodedImage = t.Result.Item1;
icvCaptureInfo captureInfo = t.Result.Item2;
mapper.NotifyIfConnected(captureInfo);
SDKImageRequest imageRequest = new SDKImageRequest();
imageRequest.token = mapper.token;
imageRequest.run = this.run;
imageRequest.bank = mapper.currentBank;
imageRequest.index = this.index;
imageRequest.anchor = this.anchor;
imageRequest.px = position.x;
imageRequest.py = position.y;
imageRequest.pz = position.z;
imageRequest.r00 = rotation.m00;
imageRequest.r01 = rotation.m01;
imageRequest.r02 = rotation.m02;
imageRequest.r10 = rotation.m10;
imageRequest.r11 = rotation.m11;
imageRequest.r12 = rotation.m12;
imageRequest.r20 = rotation.m20;
imageRequest.r21 = rotation.m21;
imageRequest.r22 = rotation.m22;
imageRequest.fx = intrinsics.x;
imageRequest.fy = intrinsics.y;
imageRequest.ox = intrinsics.z;
imageRequest.oy = intrinsics.w;
imageRequest.latitude = latitude;
imageRequest.longitude = longitude;
imageRequest.altitude = altitude;
imageRequest.b64 = encodedImage;
string jsonString = JsonUtility.ToJson(imageRequest);
using (UnityWebRequest request = UnityWebRequest.Put(string.Format(Endpoint.URL_FORMAT, mapper.server, Endpoint.CAPTURE_IMAGE), jsonString))
{
request.method = UnityWebRequest.kHttpVerbPOST;
request.useHttpContinue = false;
request.SetRequestHeader("Content-Type", "application/json");
request.SetRequestHeader("Accept", "application/json");
yield return(request.SendWebRequest());
Debug.Log("Response code: " + request.responseCode);
if (request.isNetworkError || request.isHttpError)
{
Debug.LogError(request.error);
}
else if (request.responseCode == (long)HttpStatusCode.OK)
{
SDKImageResult result = JsonUtility.FromJson <SDKImageResult>(request.downloadHandler.text);
if (result.error == "none")
{
Debug.Log("Image uploaded successfully");
}
}
}
}
void Start()
{
textMeshProUGUI = GetComponent <TextMeshProUGUI>();
this.mapper = UnityEngine.Object.FindObjectOfType <BaseMapper>();
}
