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();
}
}
public override void 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)
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = this.mainCamera;
j.intrinsics = HWARHelper.GetIntrinsics();
j.width = image.Width;
j.height = image.Height;
j.rotation = cam.transform.rotation;
j.position = cam.transform.position;
j.host = this;
HWARHelper.GetPlaneData(out j.pixels, image);
m_Jobs.Add(j);
image.Dispose();
}
}
