/// <summary>
/// called by ScapeSessionComponent.
/// Here the scape measurement is used to update the world transform object
/// in order to position and orient the camera with respect to the scene's origin.
/// </summary>
/// <param name="coordinates">
/// GPS Coordinates given by scape measurements
/// </param>
/// <param name="heading">
/// The compass heading given by scape measurements
/// </param>
/// <param name="altitude">
/// The the altitude from the ground the camera is at. This is currently supplied by
/// ARKit/Core using the GroundTracker
/// </param>
public void SynchronizeARCamera(LatLng coordinates, float heading, float altitude)
{
if (groundTracker)
{
bool success = false;
float height = groundTracker.GetGroundHeight(out success);
if (success)
{
altitude = -height;
}
else
{
ScapeLogging.LogError(message: "groundTracker.getHeight not found before ScapeMeasurement, falling back to Scape's RawMeasurementEstimate");
}
}
ScapeLogging.LogDebug(message: "SynchronizeARCamera() LatLngCoordinates = " + ScapeUtils.CoordinatesToString(coordinates));
ScapeLogging.LogDebug(message: "SynchronizeARCamera() ARHeading = " + rotationAtScapeMeasurements.y);
ScapeLogging.LogDebug(message: "SynchronizeARCamera() ARPosition = " + positionAtScapeMeasurements.ToString());
if (s2CellId == 0)
{
FindS2CellId(coordinates);
}
// the Unity position the camera should be in, that is it's position relative to the S2 cell based on it's
// gps coordinates
cameraS2Position = ScapeUtils.WgsToLocal(
coordinates.Latitude,
coordinates.Longitude,
altitude,
s2CellId);
// the world transform direction corrects the camera's Heading to be relative to North.
worldTransformDirection = heading - rotationAtScapeMeasurements.y;
if (worldTransformDirection < 0.0)
{
worldTransformDirection += 360.0f;
}
ScapeLogging.LogDebug(message: "SynchronizeARCamera() worldTransformDirectionYAngle = " + worldTransformDirection);
Vector3 positionAtScapeMeasurementsRotated = Quaternion.AngleAxis(worldTransformDirection, Vector3.up) * positionAtScapeMeasurements;
// the world transform position corrects the camera's final position after applying the direction correction
worldTransformPosition = cameraS2Position - positionAtScapeMeasurementsRotated;
ScapeLogging.LogDebug(message: "SynchronizeARCamera() worldTransformPosition = " + worldTransformPosition.ToString());
if (updateWorldTransform)
{
previousYDirection = lerpDirection;
previousPosition = lerpPosition;
}
updateWorldTransform = true;
updateStartTime = Time.time;
}
/// <summary>
/// update the world transform object having been given new scape measurements
/// </summary>
private void UpdateWorldTransform()
{
if (updateWorldTransform)
{
ScapeLogging.LogDebug(message: "GeoCameraComponent::UpdateWorldTransform()");
float elapsed = Time.time - updateStartTime;
float lerpDirection = worldTransformDirection;
Vector3 lerpPosition = worldTransformPosition;
if (elapsed >= updateTransformTime || previousYDirection == 0.0f)
{
previousYDirection = worldTransformDirection;
previousPosition = worldTransformPosition;
updateWorldTransform = false;
}
else
{
float lerp = elapsed / updateTransformTime;
lerpDirection = Mathf.Lerp(previousYDirection, worldTransformDirection, lerp);
lerpPosition = Vector3.Lerp(previousPosition, worldTransformPosition, lerp);
}
worldTransformObject.transform.rotation = Quaternion.AngleAxis(lerpDirection, Vector3.up);
worldTransformObject.transform.position = lerpPosition;
PrintError();
}
}
public void GetMeasurements()
{
measurementsRequested = true;
//next image ready will trigger the GetMeasurements
requestTime = Time.time;
ScapeLogging.LogDebug("ScapeSessionNative::GetMeasurements() requested " + Time.time);
}
/// <summary>
/// Identify which S2Cell will be used for the root.
/// Find the S2Cell's GPS Coordinates.
/// </summary>
/// <param name="latLng">
/// the LatLng coordinates from the first scape measurement
/// </param>
private void FindS2CellCoordinates(LatLng latLng)
{
S2CellId = ScapeUtils.CellIdForWgs(latLng.Latitude, latLng.Longitude, ScapeUtils.S2CellLevel);
S2CellCoordinates = ScapeUtils.LocalToWgs(new Vector3(0, 0, 0), S2CellId);
ScapeLogging.LogDebug(message: "GeoAnchorManager::S2CellId = " + S2CellId.ToString("X"));
ScapeLogging.LogDebug(message: "GeoAnchorManager::S2CellCoordinates = " + ScapeUtils.CoordinatesToString(S2CellCoordinates));
}
/// <summary>
/// Initializes the GeoAnchorManager, should only happen once
/// Sets the S2Cell if the user has given GPS coordinates, other wise that is done later
/// when the ScapeMeasurement comes in.
/// </summary>
private void StaticInit()
{
ScapeLogging.LogDebug(message: "GeoAnchorManager::StaticInit()");
if (geoAnchorManager != null)
{
ScapeLogging.LogError(message: "Error: more than one GeoAnchorManager detected in scene!");
}
else
{
geoAnchorManager = this;
}
}
/// <summary>
/// The OriginEvent function is connected to the GeoAnchorManager's GeoOriginEvent action
/// which is triggered when the ScapeSessionObject receives a successful scape measurement.
/// At this point the object calculates it's position in the Unity scene and is set to active.
/// Due to the update to the GameObject's transform, it must be ensured that this function is
/// only called on the main thread.
/// </summary>
public void OriginEvent()
{
ScapeLogging.LogDebug(message: "GeoAnchor::OriginEvent() " + gameObjectName);
isInstantiated = true;
CalculateLocalCoordinates();
if (WithinMaxDistance())
{
this.gameObject.SetActive(true);
}
}
/// <summary>
/// InstantiateOrigin is called by the main camera when a successful scape meaasurements event happens.
/// The Coordinates passed in are the Geo Location of Unity's origin.
/// </summary>
/// <param name="rootSessionCoords">
/// The GPS coordinates for the origin of the Unity scene,
/// </param>
public void InstantiateOrigin(LatLng rootSessionCoords)
{
ScapeLogging.LogDebug(message: "GeoAnchorManager::InstantiateOrigin()");
if (isInstantiated == false)
{
FindS2CellCoordinates(rootSessionCoords);
isInstantiated = true;
}
if (geoOriginEvent != null)
{
geoOriginEvent.Invoke();
}
}
/// <summary>
/// The game object calculates it's position in the Unity scene by comparing its World coordinate to the center
/// of the unique S2 cell defined in the scene's GeoAnchorManager object.
/// </summary>
private void CalculateLocalCoordinates()
{
if (!isInstantiated)
{
return;
}
ScapeLogging.LogDebug(message: "GeoAnchor::GetWorldCoordinates() WorldCoords = " + latLng.Latitude + ", " + latLng.Longitude);
Vector3 scenePos = ScapeUtils.WgsToLocal(latLng.Latitude, latLng.Longitude, altitude, GeoAnchorManager.Instance.S2CellId);
ScapeLogging.LogDebug(message: "GeoAnchor::GetWorldCoordinates() ScenePos = " + scenePos.ToString());
this.gameObject.transform.localPosition = scenePos;
}
private void CopyImageBuffer(NativeArray <byte> imageBuffer)
{
if (imageBufferCopy == null || imageBufferCopy.Length != imageBuffer.Length)
{
FreeHandle();
imageBufferCopy = new byte[imageBuffer.Length];
handle = GCHandle.Alloc(imageBufferCopy, GCHandleType.Pinned);
imagePtr = handle.AddrOfPinnedObject();
ScapeLogging.LogDebug("CopyImageBuffer() " + (Time.time - requestTime));
}
imageBuffer.CopyTo(imageBufferCopy);
}
private void GetImageAsync()
{
currentXRImage = new XRCameraImage();
if (cameraManager.TryGetLatestImage(out currentXRImage))
{
currentXRImage.ConvertAsync(new XRCameraImageConversionParams
{
inputRect = new RectInt(0, 0, currentXRImage.width, currentXRImage.height),
outputDimensions = new Vector2Int(ScapeImgWidth, ScapeImgHeight),
outputFormat = TextureFormat.R8
}, ProcessImage);
currentXRImage.Dispose();
ScapeLogging.LogDebug("GetImageAsync() " + (Time.time - requestTime));
measurementsRequested = false;
}
}
/// <summary>
/// on scape measurements result, print the result to the Text box.
/// </summary>
/// <param name="scapeMeasurements">
/// scapeMeasurements from scape system
/// </param>
private void OnScapeMeasurementsEvent(ScapeMeasurements scapeMeasurements)
{
if (scapeMeasurements.MeasurementsStatus == ScapeMeasurementStatus.ResultsFound)
{
// Use the scape scape position
newText = "OnScapeMeasurementsEvent:\n" +
"timestamp: " + scapeMeasurements.Timestamp + "\n" +
"coordinates: " + scapeMeasurements.LatLng.Longitude + " " + scapeMeasurements.LatLng.Latitude + "\n" +
"heading: " + scapeMeasurements.Heading + "\n" +
"rawHeightEstimate: " + scapeMeasurements.RawHeightEstimate + "\n" +
"confidenceScore: " + scapeMeasurements.ConfidenceScore + "\n" +
"measurementsStatus: " + scapeMeasurements.MeasurementsStatus + "\n\n";
updateText = true;
setButtonEnabled = true;
showLoadingCicles = false;
}
ScapeLogging.LogDebug("ScapeSimpleUI::OnScapeMeasurementsEvent()");
}
private void ProcessImage(AsyncCameraImageConversionStatus status,
XRCameraImageConversionParams conversionParams,
NativeArray <byte> imageBuffer)
{
if (status != AsyncCameraImageConversionStatus.Ready)
{
// attempt to call getMeasurements with empty image will compel SDK core to report error
// triggering session to request another
ScapeNative.citf_setYChannelPtr(this.scapeClient, IntPtr.Zero, 0, 0);
ScapeNative.citf_getMeasurements(this.scapeClient);
return;
}
CopyImageBuffer(imageBuffer);
ScapeNative.citf_setYChannelPtr(this.scapeClient, imagePtr, ScapeImgWidth, ScapeImgHeight);
ScapeNative.citf_getMeasurements(this.scapeClient);
ScapeLogging.LogDebug("citf_getMeasurements() " + (Time.time - requestTime));
}
private void TryGetIntrinsics(float scaleX, float scaleY)
{
XRCameraIntrinsics intrinsics = new XRCameraIntrinsics();
if (cameraManager.TryGetIntrinsics(out intrinsics))
{
ScapeNative.citf_setCameraIntrinsics(this.scapeClient,
intrinsics.focalLength.x * scaleX,
intrinsics.focalLength.y * scaleY,
intrinsics.principalPoint.x * scaleX,
intrinsics.principalPoint.y * scaleY);
ScapeLogging.LogDebug("setCameraIntrinsics " + "\n" +
"focalLength.x = " + (intrinsics.focalLength.x * scaleX) + "\n" +
"focalLength.y = " + (intrinsics.focalLength.y * scaleY) + "\n" +
"principalPoint.x = " + (intrinsics.principalPoint.x * scaleX) + "\n" +
"principalPoint.y = " + (intrinsics.principalPoint.y * scaleY) + "\n");
gotIntrinsics = true;
}
}
/// <summary>
/// print some debug output for logging purposes
/// </summary>
private void PrintError()
{
ScapeLogging.LogDebug(message: "CameraS2Position = " + cameraS2Position.ToString());
ScapeLogging.LogDebug(message: "CameraCWPosition = " + transform.position.ToString());
}
