From 086784eb0ea4f4e687493bb1879c34913194f5ca Mon Sep 17 00:00:00 2001
From: Sylvain Buche <sylvain.buche@orange.com>
Date: Tue, 16 Jul 2024 15:38:16 +0200
Subject: [PATCH] Implementation of the Geospatial module using ARCore API. Fix
a bug in the trackable selection algorithm. Change the way ARAnchorManager is
used in the ARCoreAnchors module
---
Runtime/ARCoreExtensionsConfig.asset | 2 +-
.../Resources/ARFAnchorTrackingPrefab.prefab | 106 ++++++++++
Runtime/Scripts/WorldAnalysisARFoundation.cs | 34 +++-
...dAnalysisARFoundationModuleARCoreAnchor.cs | 10 +-
...rldAnalysisARFoundationModuleGeospatial.cs | 185 ++++++++++++++++++
5 files changed, 327 insertions(+), 10 deletions(-)
create mode 100644 Runtime/Scripts/WorldAnalysisARFoundationModuleGeospatial.cs
diff --git a/Runtime/ARCoreExtensionsConfig.asset b/Runtime/ARCoreExtensionsConfig.asset
index 858be38..6b08173 100644
--- a/Runtime/ARCoreExtensionsConfig.asset
+++ b/Runtime/ARCoreExtensionsConfig.asset
@@ -14,5 +14,5 @@ MonoBehaviour:
m_EditorClassIdentifier:
CloudAnchorMode: 1
SemanticMode: 0
- GeospatialMode: 0
+ GeospatialMode: 2
StreetscapeGeometryMode: 0
diff --git a/Runtime/Resources/ARFAnchorTrackingPrefab.prefab b/Runtime/Resources/ARFAnchorTrackingPrefab.prefab
index 4b74c4b..1c0ee73 100644
--- a/Runtime/Resources/ARFAnchorTrackingPrefab.prefab
+++ b/Runtime/Resources/ARFAnchorTrackingPrefab.prefab
@@ -1,5 +1,110 @@
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diff --git a/Runtime/Scripts/WorldAnalysisARFoundation.cs b/Runtime/Scripts/WorldAnalysisARFoundation.cs
index 02484a7..28aa10d 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundation.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundation.cs
@@ -8,10 +8,11 @@ using System.Collections;
using System.Linq;
using ETSI.ARF.OpenAPI.WorldStorage;
using ETSI.ARF.WorldStorage.REST;
+using Unity.XR.CoreUtils;
//Implementation of the WorldAnalysis interface
public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
-{
+{
/// <summary>
/// Dictionnary of susbscription informations for poses, for each item, stored using the UUID of the item (anchor/trackable)
/// </summary>
@@ -50,6 +51,11 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
/// </summary>
private bool isChekingAvailabilityRunning = false;
+ /// <summary>
+ /// Anchor manager
+ /// </summary>
+ private ARAnchorManager m_anchorManager;
+
/// <summary>
/// Informations regarding a subscription to a pose
/// </summary>
@@ -73,10 +79,13 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
m_relocalizationInformations = new Dictionary<Guid, ETSI.ARF.OpenAPI.WorldStorage.RelocalizationInformation>();
m_computedPoses = new Dictionary<Guid, ETSI.ARF.OpenAPI.WorldAnalysis.Pose>();
m_subscriptionsPoses = new Dictionary<Guid, SubscriptionInfo>();
-
+
m_trackableModules = new List<WorldAnalysisARFoundationModule>();
WorldAnalysisARFoundationModuleImage imageModule = new WorldAnalysisARFoundationModuleImage();
m_trackableModules.Add(imageModule);
+
+ WorldAnalysisARFoundationModuleGeospatial geospatialModule = new WorldAnalysisARFoundationModuleGeospatial();
+ m_trackableModules.Add(geospatialModule);
#if UNITY_IOS
WorldAnalysisARFoundationModuleMesh meshModule = new WorldAnalysisARFoundationModuleMesh();
m_trackableModules.Add(meshModule);
@@ -158,7 +167,9 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
List<RelocObjects> notTrackedCandidates = new List<RelocObjects>();
//Hierarchy of types
- string[] types = { "MESH", "IMAGE_MARKER", "FIDUCIAL_MARKER", "MAP", "OTHER" }; //TODO : GEOPOSE
+ string[] types = { "MESH", "IMAGE_MARKER", "FIDUCIAL_MARKER", "MAP", "GEOPOSE", "OTHER" };
+
+ List<Guid> keysToRemove = new List<Guid>();
//We fill in the confidence level lists.
foreach (KeyValuePair<Guid, RelocObjects> relocObject in temp)
@@ -178,9 +189,18 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
{
notTrackedCandidates.Add(relocObject.Value);
}
+ }else
+ {
+ keysToRemove.Add(relocObject.Key);
}
}
+ // Remove null trackables from temp
+ foreach (Guid key in keysToRemove)
+ {
+ temp.Remove(key);
+ }
+
//uses the types[] array indexes as key, and UUIDs as values
List<KeyValuePair<string, Guid>> typesSortedList = new List<KeyValuePair<string, Guid>>();
foreach (var relocObject in temp)
@@ -365,7 +385,10 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
List<ETSI.ARF.OpenAPI.WorldStorage.Capability> capabilities = new List<ETSI.ARF.OpenAPI.WorldStorage.Capability>();
foreach (ETSI.ARF.OpenAPI.WorldAnalysis.Capability capability in currentCapabilities)
{
- capabilities.Add(WorldAnalysisUnityHelper.ConvertWorldAnalysisCapability(capability));
+ if(capability != null)
+ {
+ capabilities.Add(WorldAnalysisUnityHelper.ConvertWorldAnalysisCapability(capability));
+ }
}
/// Collect relocalization information
@@ -544,7 +567,7 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
/// <returns></returns>
private Guid SelectTrackableWithTypeAndDistance(List<RelocObjects> candidates, List<KeyValuePair<string, Guid>> typesSortedList, UnityEngine.Vector3 cameraTransformPos)
{
- float bestDistance = 100.0f; //valeur par d�faut = grande distance (� changer)
+ float bestDistance = 10000000.0f; //default value : long distance (to change ?)
Guid selectedTrackableUUID = Guid.Empty;
//if only one trackable is candidate
@@ -602,7 +625,6 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
}
}
}
-
return selectedTrackableUUID;
}
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
index 9bd2d3e..1d5fb50 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
@@ -30,9 +30,13 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
public void Initialize()
{
XROrigin origin = UnityEngine.Object.FindAnyObjectByType<XROrigin>();
- m_anchorManager = origin.gameObject.AddComponent<ARAnchorManager>();
- GameObject anchorPrefab = (GameObject)Resources.Load("ARFAnchorTrackingPrefab");
- m_anchorManager.anchorPrefab = anchorPrefab;
+ m_anchorManager = origin.gameObject.GetComponent<ARAnchorManager>();
+ if (m_anchorManager == null )
+ {
+ m_anchorManager = origin.gameObject.AddComponent<ARAnchorManager>();
+ GameObject anchorPrefab = (GameObject)Resources.Load("ARFAnchorTrackingPrefab");
+ m_anchorManager.anchorPrefab = anchorPrefab;
+ }
m_anchorManager.anchorsChanged += OnTrackedCloudAnchorChanged;
}
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleGeospatial.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleGeospatial.cs
new file mode 100644
index 0000000..d57391e
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleGeospatial.cs
@@ -0,0 +1,185 @@
+#if UNITY_ANDROID && ETSIARF_ARCORE_EXTENSIONS
+using System;
+using System.Collections.Generic;
+using Google.XR.ARCoreExtensions;
+using Unity.XR.CoreUtils;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+using static WorldAnalysisARFoundationModule;
+
+public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundationModule
+{
+ /// <summary>
+ /// Anchor manager
+ /// </summary>
+ private ARAnchorManager m_anchorManager;
+
+ private AREarthManager m_arEarthManager;
+
+ private Dictionary<string, TrackableInfo> m_trackedGeospatialAnchors = new Dictionary<string, TrackableInfo>();
+
+ private bool geospatialSupported = true;
+
+ /// Correspondance between local trackable and etsi uuid
+ /// </summary>
+ private Dictionary<string, string> m_localIdToEtsiId = new Dictionary<string, string>();
+
+ /// <summary>
+ /// Initialize ARCore geospatial anchors tracking module
+ /// </summary>
+ public void Initialize()
+ {
+ XROrigin origin = UnityEngine.Object.FindAnyObjectByType<XROrigin>();
+ m_anchorManager = origin.gameObject.GetComponent<ARAnchorManager>();
+ if (m_anchorManager == null)
+ {
+ m_anchorManager = origin.gameObject.AddComponent<ARAnchorManager>();
+ GameObject anchorPrefab = (GameObject)Resources.Load("ARFAnchorTrackingPrefab");
+ m_anchorManager.anchorPrefab = anchorPrefab;
+ }
+ m_arEarthManager = origin.gameObject.AddComponent<AREarthManager>();
+ m_anchorManager.anchorsChanged += OnTrackedGeospatialAnchorChanged;
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="uuid"></param>
+ /// <returns></returns>
+ public TrackableInfo GetPoseTrackable(Guid uuid)
+ {
+ if (m_trackedGeospatialAnchors.ContainsKey(uuid.ToString()))
+ {
+ return m_trackedGeospatialAnchors[uuid.ToString()];
+ }
+ else
+ {
+ return null;
+ }
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="trackable"></param>
+ /// <returns></returns>
+ public bool AddTrackable(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
+ {
+ if (!geospatialSupported) return false;
+
+ if (trackable.TrackableType != ETSI.ARF.OpenAPI.WorldStorage.TrackableType.GEOPOSE)
+ {
+ return false;
+ }
+ CreateGeosptialAnchor(trackable);
+
+ return true;
+ }
+
+
+ public async void CreateGeosptialAnchor(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
+ {
+ if (geospatialSupported)
+ {
+ while (ARSession.state == ARSessionState.CheckingAvailability || ARSession.state == ARSessionState.None || ARSession.state == ARSessionState.SessionInitializing || m_arEarthManager.EarthState != EarthState.Enabled || m_arEarthManager.EarthTrackingState != TrackingState.Tracking)
+ {
+ await System.Threading.Tasks.Task.Delay(100);
+ }
+ if (m_arEarthManager.IsGeospatialModeSupported(GeospatialMode.Enabled) != FeatureSupported.Supported)
+ {
+ Debug.Log("Support : " + m_arEarthManager.IsGeospatialModeSupported(GeospatialMode.Enabled));
+ geospatialSupported = false;
+ }
+ else
+ {
+ double[] values = new double[trackable.TrackablePayload.Length / sizeof(double)];
+
+ for (int i = 0; i < values.Length; i++)
+ {
+ values[i] = BitConverter.ToDouble(trackable.TrackablePayload, i * sizeof(double));
+ }
+
+ Quaternion rotation = Quaternion.Euler((float)values[3], (float)values[4], (float)values[5]);
+
+ if (m_arEarthManager.EarthTrackingState == TrackingState.Tracking)
+ {
+ var anchor = m_anchorManager.AddAnchor(values[0], values[1], values[2], rotation);
+ m_localIdToEtsiId.Add(anchor.trackableId.subId2.ToString("X16"), trackable.UUID.ToString());
+ }
+ }
+ }
+ }
+
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability() //s'occuper de ça (fonction doc)
+ {
+ if (!geospatialSupported) return null;
+
+ ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityGeospatialAnchor = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
+ capabilityGeospatialAnchor.TrackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.GEOPOSE;
+ ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure encodingInformation = new ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure();
+ encodingInformation.DataFormat = ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructureDataFormat.ARCORE;
+ encodingInformation.Version = "1.01";
+ capabilityGeospatialAnchor.EncodingInformation = encodingInformation;
+ capabilityGeospatialAnchor.Framerate = 30; // Not particularly specified on ARKit and ARCore
+ capabilityGeospatialAnchor.Latency = 0; // Not particularly specified on ARKit and ARCore
+ capabilityGeospatialAnchor.Accuracy = 1; // Not particularly specified on ARKit and ARCore
+ return capabilityGeospatialAnchor;
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="eventArgs"></param>
+ private void OnTrackedGeospatialAnchorChanged(ARAnchorsChangedEventArgs eventArgs)
+ {
+ foreach (var trackedGeospatialAnchor in eventArgs.updated)
+ {
+ Vector3 position = trackedGeospatialAnchor.transform.position;
+ Quaternion rotation = trackedGeospatialAnchor.transform.rotation;
+
+ TrackableInfo info = new TrackableInfo();
+ info.name = trackedGeospatialAnchor.name;
+ string localId = trackedGeospatialAnchor.trackableId.subId1.ToString("X16");// there must be a better way : does it work every time?
+
+ if (m_localIdToEtsiId.ContainsKey(localId))
+ {
+ info.name = m_localIdToEtsiId[localId];
+ }
+ else
+ {
+ Debug.Log("ARCore Geospatial Anchor No correspondance for Local Anchor " + localId);
+ continue;
+ }
+
+ if (trackedGeospatialAnchor.trackingState == TrackingState.Tracking)
+ {
+ info.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.OK;
+ info.confidence = 100;
+ }
+ else if (trackedGeospatialAnchor.trackingState == TrackingState.Limited)
+ {
+ info.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.OK;
+ info.confidence = 50;
+ }
+ else
+ {
+ info.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.FAILURE; //ADD NOT_TRACKED ?
+ info.confidence = 0;
+ }
+ info.timeStamp = unchecked((int)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds());
+ info.position = position;
+ info.rotation = rotation;
+ info.trackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.GEOPOSE;
+
+ m_trackedGeospatialAnchors[info.name] = info;
+ }
+ }
+}
+
+#endif
\ No newline at end of file
--
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