public override void Localize()
{
XRCpuImage image;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
if (cameraSubsystem != null && cameraSubsystem.TryAcquireLatestCpuImage(out image))
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
j.intrinsics = ARHelper.GetIntrinsics();
j.width = image.width;
j.height = image.height;
j.rotation = camRot;
j.position = camPos;
j.OnSuccess += (int mapId, Vector3 position, Quaternion rotation) =>
{
this.stats.locSucc++;
Debug.Log("*************************** Localization Succeeded ***************************");
Matrix4x4 cloudSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Debug.Log("id " + mapId + "\n" +
"fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, position, rotation, m.inverse);
this.lastLocalizedPose = lastLocalizedPose;
foreach (PointCloudRenderer p in this.pcr.Values)
{
if (p.mapId == mapId)
{
p.go.transform.position = m.GetColumn(3);
p.go.transform.rotation = m.rotation;
break;
}
}
};
j.OnFail += () =>
{
this.stats.locFail++;
Debug.Log("*************************** Localization Failed ***************************");
};
ARHelper.GetPlaneData(out j.pixels, image);
m_Jobs.Add(j);
image.Dispose();
}
}
public override void Localize()
{
ARCameraImageBytes image = null;
bool isHD = HWARHelper.TryGetCameraImageBytes(out image);
if (image != null && image.IsAvailable)
{
CoroutineJobLocalize j = new CoroutineJobLocalize();
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
j.intrinsics = isHD ? HWARHelper.GetIntrinsics() : HWARHelper.GetIntrinsics(image.Width, image.Height);
j.width = image.Width;
j.height = image.Height;
j.rotation = camRot;
j.position = camPos;
j.OnSuccess += (int mapId, Vector3 position, Quaternion rotation) =>
{
this.stats.locSucc++;
Debug.Log("*************************** Localization Succeeded ***************************");
Matrix4x4 cloudSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Debug.Log("id " + mapId + "\n" +
"fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, position, rotation, m.inverse);
this.lastLocalizedPose = lastLocalizedPose;
foreach (PointCloudRenderer p in this.pcr.Values)
{
if (p.mapId == mapId)
{
p.go.transform.position = m.GetColumn(3);
p.go.transform.rotation = m.rotation;
break;
}
}
};
j.OnFail += () =>
{
this.stats.locFail++;
Debug.Log("*************************** Localization Failed ***************************");
};
HWARHelper.GetPlaneData(out j.pixels, image);
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();
}
}
public async void LocalizeGeoPose(SDKMapId[] mapIds)
{
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
XRCameraImage image;
if (cameraSubsystem.TryGetLatestImage(out image))
#else
XRCpuImage image;
if (cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
JobGeoPoseAsync j = new JobGeoPoseAsync();
byte[] pixels;
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
int channels = 1;
int width = image.width;
int height = image.height;
j.mapIds = mapIds;
j.param1 = mapperSettings.param1;
j.param2 = mapperSettings.param2;
j.param3 = mapperSettings.param3;
j.param4 = mapperSettings.param4;
ARHelper.GetIntrinsics(out j.intrinsics);
ARHelper.GetPlaneData(out pixels, image);
Task <(byte[], icvCaptureInfo)> t = Task.Run(() =>
{
byte[] capture = new byte[channels * width * height + 1024];
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
Array.Resize(ref capture, info.captureSize);
return(capture, info);
});
await t;
j.image = t.Result.Item1;
j.OnResult += (SDKGeoPoseResult result) =>
{
if (result.success)
{
Debug.Log("*************************** GeoPose Localization Succeeded ***************************");
this.stats.locSucc++;
double latitude = result.latitude;
double longitude = result.longitude;
double ellipsoidHeight = result.ellipsoidHeight;
Quaternion rot = new Quaternion(result.quaternion[1], result.quaternion[2], result.quaternion[3], result.quaternion[0]);
Debug.Log(string.Format("GeoPose returned latitude: {0}, longitude: {1}, ellipsoidHeight: {2}, quaternion: {3}", latitude, longitude, ellipsoidHeight, rot));
double[] ecef = new double[3];
double[] wgs84 = new double[3] {
latitude, longitude, ellipsoidHeight
};
Core.PosWgs84ToEcef(ecef, wgs84);
JobEcefAsync je = new JobEcefAsync();
int mapId = mapIds[0].id;
je.id = mapId;
je.OnResult += (SDKEcefResult result2) =>
{
double[] mapToEcef = result2.ecef;
Vector3 mapPos;
Quaternion mapRot;
Core.PosEcefToMap(out mapPos, ecef, mapToEcef);
Core.RotEcefToMap(out mapRot, rot, mapToEcef);
Matrix4x4 cloudSpace = Matrix4x4.TRS(mapPos, mapRot, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
foreach (KeyValuePair <int, PointCloudRenderer> p in this.pcr)
{
if (p.Key == mapId)
{
p.Value.go.transform.position = m.GetColumn(3);
p.Value.go.transform.rotation = m.rotation;
break;
}
}
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, mapToEcef);
this.lastLocalizedPose = lastLocalizedPose;
};
m_Jobs.Add(je.RunJobAsync());
}
else
{
this.stats.locFail++;
Debug.Log("*************************** GeoPose Localization Failed ***************************");
}
};
m_Jobs.Add(j.RunJobAsync());
image.Dispose();
}
}
public override async void LocalizeServer()
{
bool rgb = false;
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
XRCameraImage image;
if (cameraSubsystem.TryGetLatestImage(out image))
#else
XRCpuImage image;
if (cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
JobLocalizeServerAsync j = new JobLocalizeServerAsync();
if (mapperSettings.serverLocalizationWithIds)
{
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;
}
}
else
{
j.useGPS = true;
j.latitude = m_Latitude;
j.longitude = m_Longitude;
j.radius = DefaultRadius;
}
byte[] pixels;
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
int channels = 1;
int width = image.width;
int height = image.height;
j.rotation = camRot;
j.position = camPos;
j.param1 = mapperSettings.param1;
j.param2 = mapperSettings.param2;
j.param3 = mapperSettings.param3;
j.param4 = mapperSettings.param4;
ARHelper.GetIntrinsics(out j.intrinsics);
if (rgb)
{
ARHelper.GetPlaneDataRGB(out pixels, image);
channels = 3;
}
else
{
ARHelper.GetPlaneData(out pixels, image);
}
Task <(byte[], icvCaptureInfo)> t = Task.Run(() =>
{
byte[] capture = new byte[channels * width * height + 1024];
icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
Array.Resize(ref capture, info.captureSize);
return(capture, info);
});
await t;
j.image = t.Result.Item1;
j.OnResult += (SDKLocalizeResult result) =>
{
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(string.Format("params: {0}, {1}, {2}, {3}", j.param1, j.param2, j.param3, j.param4));
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;
}
}
JobEcefAsync je = new JobEcefAsync();
je.id = result.map;
je.OnResult += (SDKEcefResult result2) =>
{
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, result.map, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, result2.ecef);
this.lastLocalizedPose = lastLocalizedPose;
};
m_Jobs.Add(je.RunJobAsync());
}
else
{
this.stats.locFail++;
Debug.Log("*************************** On-Server Localization Failed ***************************");
}
};
m_Jobs.Add(j.RunJobAsync());
image.Dispose();
}
}
public override async void Localize()
{
#if PLATFORM_LUMIN
XRCameraImage image;
#else
XRCpuImage image;
#endif
ARCameraManager cameraManager = m_Sdk.cameraManager;
var cameraSubsystem = cameraManager.subsystem;
#if PLATFORM_LUMIN
if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
#else
if (cameraSubsystem != null && cameraSubsystem.TryAcquireLatestCpuImage(out image))
#endif
{
Vector4 intrinsics;
Camera cam = this.mainCamera;
Vector3 camPos = cam.transform.position;
Quaternion camRot = cam.transform.rotation;
int param1 = mapperSettings.param1;
int param2 = mapperSettings.param2;
float param3 = mapperSettings.param3;
float param4 = mapperSettings.param4;
int method = mapperSettings.localizer;
ARHelper.GetIntrinsics(out intrinsics);
ARHelper.GetPlaneDataFast(ref m_PixelBuffer, image);
if (m_PixelBuffer != IntPtr.Zero)
{
Vector3 position = Vector3.zero;
Quaternion rotation = Quaternion.identity;
Task <int> t = Task.Run(() =>
{
return(Immersal.Core.LocalizeImage(out position, out rotation, image.width, image.height, ref intrinsics, m_PixelBuffer, param1, param2, param3, param4, method));
});
await t;
int mapHandle = t.Result;
if (mapHandle >= 0)
{
this.stats.locSucc++;
Debug.Log("*************************** Localization Succeeded ***************************");
Debug.Log(string.Format("params: {0}, {1}, {2}, {3}", param1, param2, param3, param4));
Matrix4x4 cloudSpace = Matrix4x4.TRS(position, rotation, Vector3.one);
Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
Debug.Log("handle " + mapHandle + "\n" +
"fc 4x4\n" + cloudSpace + "\n" +
"ft 4x4\n" + trackerSpace);
Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
LocalizerPose lastLocalizedPose;
LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapHandle, position, rotation, m.inverse);
this.lastLocalizedPose = lastLocalizedPose;
foreach (PointCloudRenderer p in this.pcr.Values)
{
if (p.mapHandle == mapHandle)
{
p.go.transform.position = m.GetColumn(3);
p.go.transform.rotation = m.rotation;
break;
}
}
}
else
{
this.stats.locFail++;
Debug.Log("*************************** Localization Failed ***************************");
}
}
image.Dispose();
}
}