private IEnumerator HostCloudAnchor()
{
// Wait until the anchor is fully uploaded to the cloud
yield return(new WaitWhile(() => WorldAnchorCloud.cloudAnchorState == CloudAnchorState.None ||
WorldAnchorCloud.cloudAnchorState == CloudAnchorState.TaskInProgress));
if (WorldAnchorCloud.cloudAnchorState == CloudAnchorState.Success)
{
// save its ID to PlayerPrefs
PlayerPrefs.SetString("cloud_anchor_id", WorldAnchorCloud.cloudAnchorId);
PlayerPrefs.Save();
// create new calibration cube representing cloud anchor and attach scene to it
worldAnchorVis = Instantiate(WorldAnchorPrefab, Vector3.zero, Quaternion.identity);
worldAnchorVis.transform.SetParent(WorldAnchorCloud.transform, false);
AttachScene(WorldAnchorCloud.gameObject);
// remove temporary local anchor
RemoveLocalWorldAnchor();
Notifications.Instance.ShowNotification("Cloud anchor created", WorldAnchorCloud.cloudAnchorState.ToString() + " ID: " + WorldAnchorCloud.cloudAnchorId);
Calibrated = true;
UsingCloudAnchors = true;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorCloud.gameObject));
Notifications.Instance.ShowNotification("Calibration successful", "");
ActivateCalibrationElements((bool)MainSettingsMenu.Instance.CalibrationElements.GetValue());
GameManager.Instance.SceneSetActive(true);
}
else
{
Notifications.Instance.ShowNotification("Cloud anchor error", WorldAnchorCloud.cloudAnchorState.ToString());
Debug.LogError("Cloud anchor error: " + WorldAnchorCloud.cloudAnchorState);
}
}
private void Start()
{
#if UNITY_STANDALONE || !AR_ON
Calibrated = true;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorLocal.gameObject));
#endif
}
//public async void GetCameraPosition(CameraParameters cameraParams, string image, bool autoCalibrate = false) {
// try {
// // receive cameraPose from server
// IO.Swagger.Model.EstimatedPose cameraEstimatedPose = await WebsocketManager.Instance.GetCameraPose(cameraParams, image, inverse:false);
// IO.Swagger.Model.Pose cameraPose = cameraEstimatedPose.Pose;
// Vector3 cameraPositionReceived = new Vector3((float) cameraPose.Position.X, (float) cameraPose.Position.Y, (float) cameraPose.Position.Z);
// Quaternion cameraRotationReceived = new Quaternion((float) cameraPose.Orientation.X, (float) cameraPose.Orientation.Y,
// (float) cameraPose.Orientation.Z, (float) cameraPose.Orientation.W);
// //Matrix4x4 cameraMatrix = AdjustMatrixByScreenOrientation(Matrix4x4.TRS(cameraPositionReceived, cameraRotationReceived, Vector3.one));
// Matrix4x4 cameraMatrix = Matrix4x4.TRS(cameraPositionReceived, cameraRotationReceived, Vector3.one);
// Vector3 cameraPosition = TransformConvertor.OpenCVToUnity(TransformConvertor.GetPositionFromMatrix(cameraMatrix));
// Quaternion cameraRotation = TransformConvertor.OpenCVToUnity(TransformConvertor.GetQuaternionFromMatrix(cameraMatrix));
// // Transformation Inversion to get Marker Position
// cameraMatrix = Matrix4x4.TRS(cameraPosition, cameraRotation, Vector3.one); // create translation, rotation and scaling matrix
// Matrix4x4 markerMatrix = cameraMatrix.inverse; // inverse to get marker rotation matrix
// markerMatrix.SetColumn(3, Vector4.zero); // set translation column to zeros
// Vector3 markerPos = markerMatrix.MultiplyPoint3x4(cameraPosition); // transform cameraPosition by marker matrix
// markerPos = -1 * markerPos;
// markerMatrix = AdjustMatrixByScreenOrientation(Matrix4x4.TRS(markerPos, TransformConvertor.GetQuaternionFromMatrix(markerMatrix), Vector3.one));
// // Marker Position
// GameObject marker = Instantiate(MarkerPositionGameObject); // create marker gameobject as child of the camera
// marker.transform.localPosition = ARCameraTransformMatrix.MultiplyPoint3x4(TransformConvertor.GetPositionFromMatrix(markerMatrix)); //ARCamera.TransformPoint(markerPos);
// marker.transform.localRotation = TransformConvertor.GetQuaternionFromMatrix(ARCameraTransformMatrix) * TransformConvertor.GetQuaternionFromMatrix(markerMatrix); //ARCamera.transform.rotation * Quaternion.LookRotation(markerMatrix.GetColumn(2), markerMatrix.GetColumn(1)); // get quaternion from rotation matrix
// marker.transform.localScale = new Vector3(1f, 1f, 1f);
// CreateLocalAnchor(marker);
// //if (WorldAnchorLocal != null) {
// // // Camera Position
// // GameObject camera = Instantiate(MarkerPositionGameObject, WorldAnchorLocal.transform);
// // camera.transform.localPosition = cameraPosition;
// // camera.transform.localRotation = cameraRotation;
// // camera.transform.localScale = new Vector3(0.05f, 0.05f, 0.05f);
// //}
// //Notifications.Instance.ShowNotification("Camera position", "GetCameraPose inverse false");
// markerDetectionState = MarkerDetectionState.Success;
// } catch (RequestFailedException ex) {
// markerDetectionState = MarkerDetectionState.Failure;
// Debug.Log("No markers visible");
// Notifications.Instance.ShowNotification("No markers visible", ex.Message);
// }
//}
public void CreateLocalAnchor(GameObject marker)
{
#if (UNITY_ANDROID || UNITY_IOS) && AR_ON
// remove all old local anchors, if there are some (in case we are recalibrating)
RemoveLocalWorldAnchor();
//FeatureMapQuality mapQuality = ARAnchorManager.EstimateFeatureMapQualityForHosting(new UnityEngine.Pose(marker.transform.position, marker.transform.rotation));
//Debug.Log("FeatureMapQuality: " + mapQuality);
//Notifications.Instance.ShowNotification("FeatureMapQuality", mapQuality.ToString());
WorldAnchorLocal = marker.AddComponent <ARAnchor>();
// immediately attach scene to local anchor (after cloud anchor is created, scene will be attached to it)
AttachScene(WorldAnchorLocal.gameObject);
GameManager.Instance.Scene.transform.localEulerAngles = new Vector3(0f, 90f, 90f);
// Create cloud anchor
if (Settings.Instance.UseCloudAnchors)
{
WorldAnchorCloud = ARAnchorManager.HostCloudAnchor(WorldAnchorLocal);
StartCoroutine(HostCloudAnchor());
}
else
{
Calibrated = true;
UsingCloudAnchors = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorLocal.gameObject));
//Notifications.Instance.ShowNotification("Calibration successful", "");
worldAnchorVis = null;
ActivateCalibrationElements((bool)MainSettingsMenu.Instance.CalibrationElements.GetValue());
}
GameManager.Instance.SceneSetActive(true);
ActivateTrackableMarkers(false);
#endif
}
public void RecalibrateUsingARFoundation()
{
#if (UNITY_ANDROID || UNITY_IOS) && AR_ON
HideCurrentWorldAnchor();
ActivateTrackableMarkers(true);
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
OnARRecalibrate?.Invoke(this, new EventArgs());
GameManager.Instance.SceneSetActive(false);
#endif
}
/// <summary>
/// Immediately creates local anchor after detected marker intersects detected plane beneath it.
/// Cloud anchor is created afterwards, but it takes some time. When it is finished, scene will be attached to it.
/// Called if user clicks on the calibration cube displayed over detected marker.
/// </summary>
/// <param name="tf"></param>
public void CreateAnchor(Transform tf)
{
#if (UNITY_ANDROID || UNITY_IOS) && AR_ON
ARPlane plane = null;
UnityEngine.Pose hitPose = new UnityEngine.Pose();
// try to raycast straight down to intersect closest plane
List <ARRaycastHit> raycastHits = new List <ARRaycastHit>();
if (ARRaycastManager.Raycast(new Ray(tf.position, Vector3.down), raycastHits, TrackableType.PlaneWithinPolygon))
{
hitPose = raycastHits[0].pose;
TrackableId hitPlaneId = raycastHits[0].trackableId;
plane = ARPlaneManager.GetPlane(hitPlaneId);
}
// remove all old local anchors, if there are some (in case we are recalibrating)
RemoveLocalWorldAnchor();
RemoveCloudWorldAnchor();
// set temporary world anchor
//WorldAnchorLocal = ARAnchorManager.AttachAnchor(plane,
// new Pose(hitPose.position, Quaternion.FromToRotation(tf.up, plane.normal) * tf.rotation));
//WorldAnchorLocal = ARAnchorManager.AddAnchor(new UnityEngine.Pose(hitPose != new UnityEngine.Pose() ? hitPose.position : tf.position,
// plane != null ? Quaternion.FromToRotation(tf.up, plane.normal) * tf.rotation : tf.rotation));
WorldAnchorLocal = ARAnchorManager.AddAnchor(new UnityEngine.Pose(tf.position,
plane != null ? Quaternion.FromToRotation(tf.up, plane.normal) * tf.rotation : tf.rotation));
// immediately attach scene to local anchor (after cloud anchor is created, scene will be attached to it)
AttachScene(WorldAnchorLocal.gameObject);
// Create cloud anchor
if (Settings.Instance.UseCloudAnchors)
{
WorldAnchorCloud = ARAnchorManager.HostCloudAnchor(WorldAnchorLocal);
StartCoroutine(HostCloudAnchor());
}
else
{
Calibrated = true;
UsingCloudAnchors = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorLocal.gameObject));
Notifications.Instance.ShowNotification("Calibration successful", "");
worldAnchorVis = null;
ActivateCalibrationElements((bool)MainSettingsMenu.Instance.CalibrationElements.GetValue());
}
GameManager.Instance.SceneSetActive(true);
ActivateTrackableMarkers(false);
#endif
}
private void RunServerAutoCalibration()
{
#if (UNITY_ANDROID || UNITY_IOS) && AR_ON
// If we used local calibration before, remove all local anchors and prepare for server calibration
if (!UsingServerCalibration)
{
//Debug.Log("Server: Was using local calibration");
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
if (localCalibration != null)
{
//Debug.Log("Server: Stopping local calibration coroutine");
StopCoroutine(localCalibration);
localCalibration = null;
}
RemoveLocalWorldAnchor();
GameManager.Instance.SceneSetActive(false);
}
ARTrackedImageManager.enabled = false;
if (!Calibrated)
{
//Debug.Log("Server: not calibrated");
// stop previously running calibration coroutine
if (autoCalibration != null)
{
//Debug.Log("Server: Stopping autocalib");
StopCoroutine(autoCalibration);
}
autoCalibration = StartCoroutine(AutoCalibrate());
}
UsingServerCalibration = true;
#endif
}
private IEnumerator AutoCalibrate()
{
// Do nothing while in the MainScreen (just track feature points, planes, etc. as user moves unintentionally with the device)
yield return(new WaitUntil(() => GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.PackageRunning));
if (!Calibrated)
{
Notifications.Instance.ShowNotification("Calibrating", "Move the device around your workspace");
TrackingLostAnimation.PlayVideo();
//yield return new WaitForSeconds(10f);
// Check how many features and planes the tracking has detected
yield return(new WaitUntil(() => TrackingManager.Instance.GetTrackingQuality() == TrackingManager.TrackingQuality.GOOD_QUALITY));
TrackingLostAnimation.StopVideo();
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
Notifications.Instance.ShowNotification("Locate as much markers as possible", "Calibration will be done automatically");
}
while (!Calibrated)
{
markerDetectionState = MarkerDetectionState.Processing;
bool calibrated = false;
yield return(CalibrateUsingServerAsync(success => {
calibrated = success;
markerDetectionState = success ? MarkerDetectionState.Success : MarkerDetectionState.Failure;
}, inverse: true, force: true));
Calibrated = calibrated;
yield return(new WaitForSeconds(0.5f));
}
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorLocal.gameObject));
// Main autocalibration loop
while (Application.isFocused)
{
// Do nothing while in the MainScreen (just track feature points, planes, etc. as user moves unintentionally with the device)
yield return(new WaitUntil(() => (GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.PackageRunning) &&
TrackingManager.Instance.IsDeviceTracking()));
if (AutoRecalibration)
{
markerDetectionState = MarkerDetectionState.Processing;
yield return(CalibrateUsingServerAsync(success => {
if (success)
{
markerDetectionState = MarkerDetectionState.Success;
recalibrateTime = 2f;
}
else
{
markerDetectionState = MarkerDetectionState.Failure;
if (anchorQuality > 0)
{
anchorQuality -= 0.05f;
}
//if (recalibrateTime > 1f) {
// recalibrateTime -= 10f;
//}
}
}, inverse: true, autoCalibrate: true));
//Debug.Log("Current quality: " + anchorQuality);
}
yield return(new WaitForSeconds(AutoRecalibrateTime));
}
}
private IEnumerator Calibrate()
{
#if (UNITY_ANDROID || UNITY_IOS) && AR_ON
// Do nothing while in the MainScreen (just track feature points, planes, etc. as user moves unintentionally with the device)
yield return(new WaitUntil(() => GameManager.Instance.GetGameState() == GameManager.GameStateEnum.SceneEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.ProjectEditor ||
GameManager.Instance.GetGameState() == GameManager.GameStateEnum.PackageRunning));
Notifications.Instance.ShowNotification("Calibrating", "Move the device around your workspace");
TrackingLostAnimation.PlayVideo();
//yield return new WaitForSeconds(10f);
// Check how many features and planes the tracking has detected
yield return(new WaitUntil(() => TrackingManager.Instance.GetTrackingQuality() == TrackingManager.TrackingQuality.GOOD_QUALITY));
TrackingLostAnimation.StopVideo();
if (Settings.Instance.UseCloudAnchors)
{
// Try to load cloud anchor defined by ID saved in PlayerPrefs
if (LoadCloudAnchor())
{
// if anchor exist in the cloud, wait for it to be fully loaded
yield return(new WaitUntil(() => WorldAnchorCloud.cloudAnchorState == CloudAnchorState.Success));
worldAnchorVis = Instantiate(WorldAnchorPrefab, Vector3.zero, Quaternion.identity);
worldAnchorVis.transform.SetParent(WorldAnchorCloud.transform, false);
AttachScene(WorldAnchorCloud.gameObject);
// disactivate marker tracking, because anchor is loaded from the cloud
ActivateTrackableMarkers(false);
Notifications.Instance.ShowNotification("Cloud anchor loaded", "Cloud anchor loaded sucessfully");
Calibrated = true;
UsingCloudAnchors = true;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(true, WorldAnchorCloud.gameObject));
Notifications.Instance.ShowNotification("Calibration successful", "");
GameManager.Instance.SceneSetActive(true);
}
//TODO If anchor is not present in the system, play animation to manually calibrate by clicking on marker
else
{
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
Notifications.Instance.ShowNotification("Calibrate by clicking on the Calibration cube", "Cloud anchor does not exist. Please calibrate manually by clicking on the cube displayed on your marker");
//AttachScene(null, initLocalAnchor: true);
ActivateTrackableMarkers(true);
}
}
else
{
Calibrated = false;
OnARCalibrated?.Invoke(this, new CalibrationEventArgs(false, null));
Notifications.Instance.ShowNotification("Calibrate by clicking on the Calibration cube", "Please calibrate manually by clicking on the cube displayed on your marker");
//AttachScene(null, initLocalAnchor: true);
ActivateTrackableMarkers(true);
}
#endif
yield return(null);
}
