public void Terminate()
{
if (this.IsStarted())
{
ScapeNative.citf_destroyClient(this.scapeClientPtr);
}
}
public void StartClient(string apiKey, bool isDebugEnabled)
{
if (this.scapeClientPtr == IntPtr.Zero)
{
int isDebugInt = 0;
if (isDebugEnabled)
{
isDebugInt = 1;
}
this.scapeClientPtr = ScapeNative.citf_createClient(apiKey, isDebugInt);
if (this.IsStarted())
{
this.scapeSessionNative = new ScapeSessionNative(this.scapeClientPtr);
ScapeNative.citf_setClientStateCallbacks(this.scapeClientPtr,
onAquireMotionMeasurements,
onAquireLocationMeasurements);
if (isDebugEnabled)
{
this.debugSessionPtr = ScapeNative.citf_getDebugSession(this.scapeClientPtr);
debugSession = new DebugSessionNative(debugSessionPtr);
}
setDeviceInfo();
Input.location.Start();
}
}
}
/// <summary>
/// WsgToLocal, given a LatLng coordinate and a s2cell id, returns Vector3.
/// typically used by a GeoAnchor component to find it's position in the Unity scene.
/// </summary>
/// <param name="latitude">
/// latitude in degrees
/// </param>
/// <param name="longitude">
/// longitude in degrees
/// </param>
/// <param name="altitude">
/// altitude in meters
/// </param>
/// <param name="s2CellId">
/// s2CellId long id
/// </param>
/// <returns>
/// position for use in Unity scene
/// </returns>
public static Vector3 WgsToLocal(double latitude, double longitude, double altitude, long s2CellId)
{
var vec3 = new Vector3();
double[] result = new double[3];
ScapeNative._wgsToLocal(latitude, longitude, altitude, s2CellId, result);
vec3.Set((float)result[0], (float)result[1], (float)result[2]);
return(vec3);
}
internal ScapeSessionNative(IntPtr client)
{
this.scapeClient = client;
ScapeNative.citf_setSessionCallbacks(this.scapeClient,
onScapeMeasurementsRequestedNative,
onScapeSessionErrorNative,
onScapeMeasurementsUpdatedNative
);
}
public static void LogError(string message = "", string tag = "SCKUnity")
{
if (ScapeClient.Instance.IsStarted())
{
ScapeNative.citf_log((int)LogLevel.LOG_ERROR, tag, message);
}
else
{
Debug.Log(tag + " [Error] : " + message);
}
}
public void GetMeasurements(ScapeSession.ARImage image)
{
ScapeNative.citf_setYChannelPtr(this.scapeClient, image.YPixelBuffer, image.Width, image.Height);
ScapeNative.citf_setCameraIntrinsics(this.scapeClient,
image.XFocalLength,
image.YFocalLength,
image.XPrincipalPoint,
image.YPrincipalPoint);
ScapeNative.citf_getMeasurements(this.scapeClient);
}
private void setDeviceInfo()
{
ScapeNative.device_info di = new ScapeNative.device_info();
di.id = stringToFixedByteArray(SystemInfo.deviceUniqueIdentifier, 256);
di.platform = stringToFixedByteArray(Enum.GetName(typeof(RuntimePlatform), Application.platform), 256);
di.model = stringToFixedByteArray(SystemInfo.deviceModel, 256);
di.os = stringToFixedByteArray(SystemInfo.operatingSystem, 256);
di.os_version = stringToFixedByteArray(Enum.GetName(typeof(OperatingSystemFamily), SystemInfo.operatingSystemFamily), 256);
di.write_directory = stringToFixedByteArray(Application.persistentDataPath, 256);
di.sdk_version = stringToFixedByteArray(ScapeKitVersionVars.version + "." + ScapeKitVersionVars.build, 256);
ScapeNative.citf_setDeviceInfo(this.scapeClientPtr, ref di);
}
/// <summary>
/// localToWsg, given a Unity position vector3 and s2 cell id, returns a LatLng coordinate.
/// The Unity scene uses an S2 Cell's center to define it's origin.
/// In this way by taking the world position of an object in the Unity scene
/// and combining it with the Cell id defined in the GeoAnchorManager, the world coordinate of that
/// position can be deduced.
/// </summary>
/// <param name="localVec3">
/// local position in unity scene
/// </param>
/// <param name="s2CellId">
/// s2CellId long id
/// </param>
/// <returns>
/// GPS world coordinates
/// </returns>
public static LatLng LocalToWgs(Vector3 localVec3, long s2CellId)
{
LatLng coords = new LatLng();
double[] result = new double[3];
ScapeNative._localToWgs(localVec3.x, localVec3.y, localVec3.z, s2CellId, result);
coords = new LatLng()
{
Latitude = result[0],
Longitude = result[1]
};
return(coords);
}
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;
}
}
public override void SaveImages(bool save)
{
ScapeNative.citf_saveImages(nativePtr, save);
}
public override void MockGPSCoordinates(double latitude, double longitude)
{
ScapeNative.citf_mockGPSCoordinates(nativePtr, latitude, longitude);
}
public override void SetLogConfig(LogLevel level, LogOutput output)
{
ScapeNative.citf_setLogConfig(nativePtr, (int)level, (int)output);
}
/// <summary>
/// angleBetweenCoordinates, the angular distance between 2 gps coords
/// </summary>
/// <param name="latitude1">
/// latitude1 the first latitude parameter in degrees
/// </param>
/// <param name="longitude1">
/// longitude1 the first longitude parameter in degrees
/// </param>
/// <param name="latitude2">
/// latitude2 the second latitude parameter in degrees
/// </param>
/// <param name="longitude2">
/// longitude2 the second longitude parameter in degrees
/// </param>
/// <returns>
/// value in degrees
/// </returns>
public static double AngleBetweenCoordinates(double latitude1, double longitude1, double latitude2, double longitude2)
{
return(ScapeNative._angleBetweenCoordinates(latitude1, longitude1, latitude2, longitude2));
}
/// <summary>
/// metersBetweenCoordinates given to coordinates returns distance between them in meters
/// </summary>
/// <param name="latitude1">
/// latitude1 the first latitude parameter in degrees
/// </param>
/// <param name="longitude1">
/// longitude1 the first longitude parameter in degrees
/// </param>
/// <param name="latitude2">
/// latitude2 the second latitude parameter in degrees
/// </param>
/// <param name="longitude2">
/// longitude2 the second longitude parameter in degrees
/// </param>
/// <returns>
/// value in meters
/// </returns>
public static double MetersBetweenCoordinates(double latitude1, double longitude1, double latitude2, double longitude2)
{
return(ScapeNative._metersBetweenCoordinates(latitude1, longitude1, latitude2, longitude2));
}
/// <summary>
/// cellIdForGps S2 cell id for GPS.
/// S2 Cells are areas's on the Earth's surface.
/// In a Scape integrated Unity scene the center of one such cell is always used as the
/// scene's origin.
/// This function is used by the GeoAnchorManager to ascertain the S2 Cell for the current scene.
/// </summary>
/// <param name="latitude">
/// latitude in degrees
/// </param>
/// <param name="longitude">
/// longitude in degrees
/// </param>
/// <param name="s2CellLevel">
/// An S2 Cell Level
/// </param>
/// <returns>
/// ID of s2 cell containing GPS coordinate.
/// </returns>
public static long CellIdForWgs(double latitude, double longitude, int s2CellLevel)
{
return(ScapeNative._cellIdForWgs(latitude, longitude, s2CellLevel));
}
