public override void LocalizeServer()
{
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)
{
CoroutineJobLocalizeServer j = new CoroutineJobLocalizeServer();
j.host = this;
if (this.useGPS)
{
j.useGPS = true;
j.latitude = m_Latitude;
j.longitude = m_Longitude;
j.radius = DefaultRadius;
}
Camera cam = this.mainCamera;
j.rotation = cam.transform.rotation;
j.position = cam.transform.position;
j.intrinsics = HWARHelper.GetIntrinsics();
j.width = image.Width;
j.height = image.Height;
HWARHelper.GetPlaneData(out j.pixels, image);
j.channels = 1;
m_Jobs.Add(j);
image.Dispose();
}
}
public override void LocalizeServer()
{
ARCameraImageBytes image = null;
bool isHD = HWARHelper.TryGetCameraImageBytes(out image);
if (image != null && image.IsAvailable)
{
CoroutineJobLocalizeServer j = new CoroutineJobLocalizeServer();
if (gpsOn)
{
j.useGPS = true;
j.latitude = m_Latitude;
j.longitude = m_Longitude;
j.radius = DefaultRadius;
}
else
{
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;
}
}
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
j.host = this;
j.rotation = camRot;
j.position = camPos;
j.intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height);
j.width = image.Width;
j.height = image.Height;
HWARHelper.GetPlaneData(out j.pixels, image);
j.channels = 1;
j.OnResult += (SDKLocalizeResult result) =>
{
/*if (result.error == "none")
* {*/
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("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;
}
}
CoroutineJobEcef je = new CoroutineJobEcef();
je.host = this;
je.id = result.map;
je.OnSuccess += (SDKEcefResult result2) =>
{
if (result2.error == "none")
{
Debug.Log(result2.ecef);
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, result.map, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, result2.ecef);
this.lastLocalizedPose = lastLocalizedPose;
}
else
{
Debug.LogError(result2.error);
}
};
m_Jobs.Add(je);
}
else
{
this.stats.locFail++;
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
/*}
* else
* {
* Debug.LogError(result.error);
* }*/
};
m_Jobs.Add(j);
image.Dispose();
}
}