private void OnDataReceivedEvent(byte[] obj)
{
NetworkMessageStruct networkMessage = NetworkMessageStruct.Deserialize(obj);
switch (networkMessage.Type)
{
case MessageType.ColorChange:
DeserializeColorAndSendEvent(networkMessage.Message);
break;
case MessageType.WorldMap:
Debug.Log("recieved world map");
ARWorldMap arWorldMap = (ARWorldMap) new PackableARWorldMap(networkMessage.Message);
RestartSessionWithWorldMap(arWorldMap);
break;
case MessageType.Anchor:
Debug.Log("recieved anchor");
ulong trackableId1 = BitConverter.ToUInt64(networkMessage.Message, 0);
ulong trackableId2 = BitConverter.ToUInt64(networkMessage.Message, sizeof(ulong));
TrackableId trackableId = new TrackableId(trackableId1, trackableId2);
AnchorRecieved?.Invoke(trackableId);
break;
case MessageType.SpawnedObject:
DeserializeObjectSpawnAndSendEvent(networkMessage.Message);
break;
}
}
void LoadWorldMap()
{
Debug.Log("Attempting to load ARWorldMap.");
//GlobalMapManager.Instance.DownloadLatestMap(() =>
//{
// var worldMap = ARWorldMap.Load(GlobalMapManager.Instance.WorldMapPath);
// if (worldMap != null)
// {
// Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
// var config = ARKitManager.Instance.DefaultSessionConfiguration;
// config.worldMap = worldMap;
// UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
// Debug.Log("Restarting session with worldMap");
// ARKitManager.Instance.Session.RunWithConfigAndOptions(config, runOption);
// }
//});
var worldMap = ARWorldMap.Load(GlobalMapManager.Instance.WorldMapPath);
if (worldMap != null)
{
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
var config = ARKitManager.Instance.DefaultSessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
ARKitManager.Instance.Session.RunWithConfigAndOptions(config, runOption);
}
}
IEnumerator Load()
{
var sessionSubsystem = (ARKitSessionSubsystem)m_ARSession.subsystem;
if (sessionSubsystem == null)
{
Log("No session subsystem available. Could not load.");
yield break;
}
var DlUrl = "http://" + IP_InputField.text + ":" + _httpPort.ToString() + "/" + _GetDirectory;
UnityWebRequest www = new UnityWebRequest(DlUrl);
www.downloadHandler = new DownloadHandlerBuffer();
yield return(www.SendWebRequest());
byte[] worldMap_byte;
var allBytes = new List <byte>();
if (www.isNetworkError || www.isHttpError)
{
Debug.Log(www.error);
}
else
{
// または、バイナリデータで結果を表示
worldMap_byte = www.downloadHandler.data;
Debug.Log("hash" + _GetHashedTextString(worldMap_byte));
allBytes.AddRange(worldMap_byte);
var worldMap_nativearray = new NativeArray <byte>(allBytes.Count, Allocator.Temp);
worldMap_nativearray.CopyFrom(allBytes.ToArray());
ARWorldMap worldMap;
if (ARWorldMap.TryDeserialize(worldMap_nativearray, out worldMap))
{
worldMap_nativearray.Dispose();
}
if (worldMap.valid)
{
Log("Deserialized successfully.");
}
else
{
Log("Data is not a valid ARWorldMap.");
yield break;
}
Log("Apply ARWorldMap to current session.");
sessionSubsystem.ApplyWorldMap(worldMap);
}
}
public IEnumerator Relocate(byte[] receivedBytes)
{
//start relocation
statusGO.SetActive(true);
statusText.text = "Start relocalize..";
ARWorldMap arWorldMap = ARWorldMap.SerializeFromByteArray(receivedBytes);
//Use the AR Session manager to restart session with received world map to sync up
ExampleARSessionManager easm = FindObjectOfType <ExampleARSessionManager>();
easm.StartSession(arWorldMap);
//check tracking state and update UI
while (_arTrackingState != ARTrackingState.ARTrackingStateLimited || _arTrackingStateReason != ARTrackingStateReason.ARTrackingStateReasonRelocalizing)
{
yield return(null); //wait until it starts relocalizing
}
statusText.text = "Relocalizing... look around the area";
while (_arTrackingState != ARTrackingState.ARTrackingStateNormal)
{
yield return(null);
}
statusText.text = "Relocalized!";
yield return(null);
statusGO.SetActive(false);
yield return(null);
}
public void StartSession(ARWorldMap arWorldMap = null)
{
m_session = UnityARSessionNativeInterface.GetARSessionNativeInterface();
Application.targetFrameRate = 60;
ARKitWorldTrackingSessionConfiguration config = new ARKitWorldTrackingSessionConfiguration
{
planeDetection = planeDetection,
alignment = startAlignment,
getPointCloudData = getPointCloud,
enableLightEstimation = enableLightEstimation,
enableAutoFocus = enableAutoFocus,
worldMap = arWorldMap
};
if (detectionImages != null)
{
config.referenceImagesGroupName = detectionImages.resourceGroupName;
}
if (config.IsSupported)
{
m_session.RunWithConfig(config);
UnityARSessionNativeInterface.ARFrameUpdatedEvent += FirstFrameUpdate;
}
}
public void Load(string name, string filePath)
{
Debug.LogFormat("Loading ARWorldMap {0}", filePath);
var worldMap = ARWorldMap.Load(filePath);
if (worldMap != null)
{
GroundPlaneManager.instance.NewSession(true);
m_LoadedMap = worldMap;
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
session.RunWithConfigAndOptions(config, runOption);
loadingname = name;
isLoading = true;
}
}
public void Load(string fileName)
{
var worldMap = ARWorldMap.Load(Path.Combine(Application.persistentDataPath, string.Concat(fileName, ".worldmap")));
if (worldMap != null)
{
windowManager.SpawnGuideToLoad();
loadedWorldMapName = fileName;
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
relocalizing = true;
startTime = Time.time;
ARKitWorldTrackingSessionConfiguration config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
foreach (GameObject go in GameObject.FindGameObjectsWithTag("Line"))
{
Destroy(go);
}
session.RunWithConfigAndOptions(config, runOption);
}
}
public void Load()
{
if (path != null)
{
Debug.LogFormat("Loading ARWorldMap {0}", path);
var worldMap = ARWorldMap.Load(path);
if (worldMap != null)
{
m_LoadedMap = worldMap;
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
//m_TGOPlacement.Reset();
//m_ESAPlacement.Reset();
Debug.Log("Restarting session with worldMap");
session.RunWithConfigAndOptions(config, runOption);
}
}
else
{
Debug.Log("Please, specify a path");
}
}
private void RestartSessionWithWorldMap(ARWorldMap arWorldMap)
{
if (_arSession.subsystem is ARKitSessionSubsystem arKitSessionSubsystem)
{
arKitSessionSubsystem.ApplyWorldMap(arWorldMap);
}
}
public UniTask Load(string dirPath)
{
string path = GetPath(dirPath);
ARWorldMap worldMap = ARWorldMap.Load(path);
Debug.Log($"ARWorldMap loaded from {path}");
ARKitWorldTrackingSessionConfiguration config = _camera.sessionConfiguration;
config.worldMap = worldMap;
const UnityARSessionRunOption runOption =
UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors |
UnityARSessionRunOption.ARSessionRunOptionResetTracking;
UnityARSessionNativeInterface
.ARSessionShouldAttemptRelocalization = true;
UnityARSessionNativeInterface
.GetARSessionNativeInterface()
.RunWithConfigAndOptions(config, runOption);
Debug.Log("Restarted session with worldMap");
return(UniTask.CompletedTask);
}
public void LoadARWorldMap(ARWorldMap worldMap)
{
var sessionSubsystem = (ARKitSessionSubsystem)m_ARSession.subsystem;
Debug.Log("Applying ARWM");
sessionSubsystem.ApplyWorldMap(worldMap);
Debug.Log("ARWM Applied");
}
void OnWorldMap(ARWorldMap worldMap)
{
if (worldMap != null)
{
worldMap.Save(path);
Debug.LogFormat("ARWorldMap saved to {0}", path);
}
}
IEnumerator Load()
{
var sessionSubsystem = (ARKitSessionSubsystem)m_ARSession.subsystem;
if (sessionSubsystem == null)
{
Log("No session subsystem available. Could not load.");
yield break;
}
var file = File.Open(path, FileMode.Open);
if (file == null)
{
Log(string.Format("File {0} does not exist.", path));
yield break;
}
Log(string.Format("Reading {0}...", path));
int bytesPerFrame = 1024 * 10;
var bytesRemaining = file.Length;
var binaryReader = new BinaryReader(file);
var allBytes = new List <byte>();
while (bytesRemaining > 0)
{
var bytes = binaryReader.ReadBytes(bytesPerFrame);
allBytes.AddRange(bytes);
bytesRemaining -= bytesPerFrame;
yield return(null);
}
var data = new NativeArray <byte>(allBytes.Count, Allocator.Temp);
data.CopyFrom(allBytes.ToArray());
Log(string.Format("Deserializing to ARWorldMap...", path));
ARWorldMap worldMap;
if (ARWorldMap.TryDeserialize(data, out worldMap))
{
data.Dispose();
}
if (worldMap.valid)
{
Log("Deserialized successfully.");
}
else
{
Debug.LogError("Data is not a valid ARWorldMap.");
yield break;
}
Log("Apply ARWorldMap to current session.");
sessionSubsystem.ApplyWorldMap(worldMap);
}
void OnWorldMapSerialized(ARWorldMap worldMap)
{
if (worldMap != null)
{
//we have an operator that converts a ARWorldMap to a serializableARWorldMap
serializedWorldMap = worldMap;
Debug.Log("ARWorldMap serialized to serializableARWorldMap");
}
}
partial void LoadExperience()
{
if (DataFromFile == null)
{
Debug.WriteLine("Map data should already be verified to exist before Load button is enabled.");
return;
}
try
{
var data = DataFromFile;
ARWorldMap worldMap = (ARWorldMap)NSKeyedUnarchiver.GetUnarchivedObject(typeof(ARWorldMap), data, out var err);
if (err != null)
{
Debug.WriteLine("No ARWorldMap in archive.");
return;
}
// Display the snapshot image stored in the world map to aid user in relocalizing.
var snapshotData = worldMap.GetSnapshotAnchor()?.ImageData;
using (var snapshot = UIImage.LoadFromData(snapshotData))
{
if (snapshot != null)
{
_snapShotThumbnail.Image = snapshot;
}
else
{
Debug.WriteLine("No snapshot image in world map");
}
}
// Remove the snapshot anchor from the world map since we do not need it in the scene.
worldMap.Anchors = worldMap.Anchors.Where(anchor => anchor.GetType() != typeof(SnapshotAnchor)).ToArray();
var configuration = new ARWorldTrackingConfiguration
{
PlaneDetection = ARPlaneDetection.Horizontal,
EnvironmentTexturing = AREnvironmentTexturing.Automatic,
InitialWorldMap = worldMap,
};
_sceneView.Session.Run(configuration, ARSessionRunOptions.ResetTracking | ARSessionRunOptions.RemoveExistingAnchors); // Run the view's session
isRelocalizingMap = true;
objAnchor = null;
}
catch (Exception ex)
{
Debug.WriteLine($"Can't unarchive ARWorldMap from file data: {ex.Message}");
return;
}
Debug.WriteLine($"Success: Loaded world scene from {MapSaveURL}");
}
static void _world_map_received(IntPtr worldMapPtr)
{
if (WorldMapReceivedEventInternal == null)
{
return;
}
var worldMap = ARWorldMap.FromPtr(worldMapPtr);
WorldMapReceivedEventInternal(worldMap);
}
private void OnLoadClick()
{
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;//重定位
ARWorldMap newWorldMap = ARWorldMap.Load(Config.path);
ARKitWorldTrackingSessionConfiguration configration = m_ARCameraManager.sessionConfiguration;
configration.worldMap = newWorldMap;
UnityARSessionRunOption option = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Config.m_Swssion.RunWithConfigAndOptions(configration, option);
}
void OnWorldMap(ARWorldMap worldMap)
{
if (worldMap != null)
{
if (path != "")
{
worldMap.Save(path);
GroundPlaneManager.instance.Save(nameInput.text);
Debug.LogFormat("ARWorldMap saved to {0}", path);
nameInput.text = "";
}
}
}
private async void SendWorldMapAsync()
{
ARWorldMap worldMap = await GetARWorldMapAsync();
PackableARWorldMap packableARWorldMap = (PackableARWorldMap)worldMap;
NetworkMessageStruct networkMessageStruct = new NetworkMessageStruct
{
Type = MessageType.WorldMap,
Message = packableARWorldMap.ARWorldMapData
};
SendMessage(networkMessageStruct);
}
void OnWorldMap(ARWorldMap worldMap)
{
if (worldMap != null)
{
if (path != null)
{
worldMap.Save(path);
Debug.LogFormat("ARWorldMap saved to {0}", path);
}
else
{
Debug.Log("Please, specify a path");
}
}
}
public void OnMessageReceived(byte[] msg)
{
try
{
BinaryFormatter bf = new BinaryFormatter();
MemoryStream serializationStream = new MemoryStream(msg, 0, msg.Length, false, false);
//serializationStream.Write(msg, 0, msg.Length);
object obj = bf.Deserialize(serializationStream);
if (obj != null)
{
if (obj is AppState)
{
AppState appState = obj as AppState;
Debug.Log("AppState received.");
}
}
return;
}
catch (System.Exception)
{
}
//string s = "";
//foreach (var b in msg)
//{
// s = $"{s}, {b}";
//}
//Debug.Log(s);
SharedARUIManager.sharedARStatusMessage = $"MSG RECEIVED LENGTH: {msg.Length}";
//ARWorldMap
if (ARWorldMapController != null)
{
NativeArray <byte> nativeArray = new NativeArray <byte>(msg, Allocator.Persistent);
Debug.Log("Trying to deserialize ARWM");
bool success = ARWorldMap.TryDeserialize(nativeArray, out ARWorldMap worldMap);
nativeArray.Dispose();
if (success)
{
Debug.Log("ARWM Deserialized");
if (worldMap.valid)
{
Debug.Log("ARWM Valid");
ARWorldMapController.LoadARWorldMap(worldMap);
SharedARUIManager.sharedARStatusMessage = "SUCESS";
}
}
}
}
private void CompressMap(ARWorldMap map, Action <NSData, NSError> closure)
{
DispatchQueue.DefaultGlobalQueue.DispatchAsync(() =>
{
var data = NSKeyedArchiver.ArchivedDataWithRootObject(map, true, out NSError error);
if (error == null)
{
closure(data, null);
}
else
{
// archiving failed
closure(null, error);
}
});
}
void LoadSerializedWorldMap(byte[] worldMapInBytes)
{
ARWorldMap worldMap = ARWorldMap.SerializeFromByteArray(worldMapInBytes);
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
session.RunWithConfigAndOptions(config, runOption);
}
void SaveAndDisposeWorldMap(ARWorldMap worldMap)
{
Log("Serializing ARWorldMap to byte array...");
var data = worldMap.Serialize(Allocator.Temp);
Log(string.Format("ARWorldMap has {0} bytes.", data.Length));
var file = File.Open(path, FileMode.Create);
var writer = new BinaryWriter(file);
writer.Write(data.ToArray());
writer.Close();
data.Dispose();
worldMap.Dispose();
Log(string.Format("ARWorldMap written to {0}", path));
}
void RestartARSessionWith(ARWorldMap worldMap)
{
if (worldMap != null)
{
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = arCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
UnityARSessionNativeInterface.GetARSessionNativeInterface().RunWithConfigAndOptions(config, runOption);
}
}
void LoadWorldMap()
{
Debug.LogFormat("Loading ARWorldMap {0}", WorldMapPath);
var worldMap = ARWorldMap.Load(WorldMapPath);
if (worldMap != null)
{
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
var config = ARKitCameraManager.Instance.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
Session.RunWithConfigAndOptions(config, runOption);
referenceImage.GetComponent <Image>().sprite = UtilitiesCR.LoadNewSprite(ReferenceImagePath);
referenceImage.SetActive(true);
}
}
public void LoadSerialized()
{
Debug.Log("Loading ARWorldMap from serialized data");
//we have an operator that converts a serializableARWorldMap to a ARWorldMap
ARWorldMap worldMap = serializedWorldMap;
if (worldMap != null)
{
m_LoadedMap = worldMap;
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
session.RunWithConfigAndOptions(config, runOption);
}
}
public IEnumerator Relocate(byte[] receivedBytes)
{
//start relocation
ARWorldMap arWorldMap = ARWorldMap.SerializeFromByteArray(receivedBytes);
//Use the AR Session manager to restart session with received world map to sync up
ExampleARSessionManager easm = FindObjectOfType <ExampleARSessionManager>();
easm.StartSession(arWorldMap);
//check tracking state and update UI
while (_arTrackingState != ARTrackingState.ARTrackingStateLimited || _arTrackingStateReason != ARTrackingStateReason.ARTrackingStateReasonRelocalizing)
{
yield return(null); //wait until it starts relocalizing
}
while (_arTrackingState != ARTrackingState.ARTrackingStateNormal)
{
yield return(null);
}
}
public void Load()
{
Debug.LogFormat("Loading ARWorldMap {0}", path);
var worldMap = ARWorldMap.Load(path);
if (worldMap != null)
{
m_LoadedMap = worldMap;
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
session.RunWithConfigAndOptions(config, runOption);
myCube.transform.position = new Vector3(PlayerPrefs.GetFloat("PlayerX"), PlayerPrefs.GetFloat("PlayerY"), PlayerPrefs.GetFloat("PlayerZ"));
}
}
/// <summary>
/// 加载ARWorldMap
/// </summary>
public void Load()
{
Debug.LogFormat("Loading ARWorldMap {0}", Path);
#if !UNITY_EDITOR
var worldMap = ARWorldMap.Load(Path);
if (worldMap != null)
{
m_LoadedMap = worldMap;
Debug.LogFormat("Map loaded. Center: {0} Extent: {1}", worldMap.center, worldMap.extent);
UnityARSessionNativeInterface.ARSessionShouldAttemptRelocalization = true;
var config = m_ARCameraManager.sessionConfiguration;
config.worldMap = worldMap;
UnityARSessionRunOption runOption = UnityARSessionRunOption.ARSessionRunOptionRemoveExistingAnchors | UnityARSessionRunOption.ARSessionRunOptionResetTracking;
Debug.Log("Restarting session with worldMap");
Session.RunWithConfigAndOptions(config, runOption);
}
#endif
StartCoroutine(SceneRecogOver());
}
