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diff --git a/Runtime/Resources/ARFAnchorTrackingPrefab.prefab.meta b/Runtime/Resources/ARFAnchorTrackingPrefab.prefab.meta
new file mode 100644
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--- /dev/null
+++ b/Runtime/Resources/ARFAnchorTrackingPrefab.prefab.meta
@@ -0,0 +1,7 @@
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diff --git a/Runtime/Scripts/WorldAnalysisARFoundation.cs b/Runtime/Scripts/WorldAnalysisARFoundation.cs
index bd82b85fc9caf3da00099d0a4ead5456560a54a1..671265f8bf35af04fa16a9854295ecfc755526f6 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundation.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundation.cs
@@ -69,6 +69,7 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
protected void Awake()
{
Instance = this;
+ this.gameObject.AddComponent<WorldAnalysisARFoundationCoroutineHelper>();
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>();
@@ -76,10 +77,16 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
m_trackableModules = new List<WorldAnalysisARFoundationModule>();
WorldAnalysisARFoundationModuleImage imageModule = new WorldAnalysisARFoundationModuleImage();
m_trackableModules.Add(imageModule);
- #if UNITY_IOS
+#if UNITY_IOS
WorldAnalysisARFoundationModuleMesh meshModule = new WorldAnalysisARFoundationModuleMesh();
m_trackableModules.Add(meshModule);
- #endif
+#endif
+#if UNITY_ANDROID
+ // todo add script define symbol for using arcore extensions
+ WorldAnalysisARFoundationModuleARCoreAnchor arCoreAnchorModule = new WorldAnalysisARFoundationModuleARCoreAnchor();
+ m_trackableModules.Add(arCoreAnchorModule);
+#endif
+
foreach(WorldAnalysisARFoundationModule module in m_trackableModules)
{
module.Initialize();
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationCoroutineHelper.cs b/Runtime/Scripts/WorldAnalysisARFoundationCoroutineHelper.cs
new file mode 100644
index 0000000000000000000000000000000000000000..2aebd0785095b226a7c730b44282c2380cd9a4af
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationCoroutineHelper.cs
@@ -0,0 +1,31 @@
+using System.Collections;
+using UnityEngine;
+
+public class WorldAnalysisARFoundationCoroutineHelper : MonoBehaviour
+{
+ //Singleton
+ public static WorldAnalysisARFoundationCoroutineHelper Instance { get; private set; }
+
+ private void Awake()
+ {
+ // If there is an instance, and it's not me, delete myself.
+
+
+ Debug.Log("HERE SINGLETON AWAKE");
+
+ if (Instance != null && Instance != this)
+ {
+ Destroy(this);
+ }
+ else
+ {
+ Instance = this;
+ }
+ }
+
+ public void StartACoroutine(IEnumerator coroutine)
+ {
+ Debug.Log("HERE SINGLETON");
+ StartCoroutine(coroutine);
+ }
+}
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationCoroutineHelper.cs.meta b/Runtime/Scripts/WorldAnalysisARFoundationCoroutineHelper.cs.meta
new file mode 100644
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@@ -0,0 +1,11 @@
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diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
new file mode 100644
index 0000000000000000000000000000000000000000..4ef7bc9e982336e803e099d781a2ce1497850a12
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
@@ -0,0 +1,219 @@
+#if UNITY_ANDROID
+using System;
+using System.Collections;
+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 WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFoundationModule
+{
+ /// <summary>
+ ///
+ /// </summary>
+ private ARAnchorManager m_anchorManager;
+ /// <summary>
+ /// IDs of all the cloud anchors that have been resolved
+ /// </summary>
+ private List<string> m_cloudAnchorAdded;//useful ?
+ /// <summary>
+ /// List of cloud anchors with tracking infos
+ /// </summary>
+ private Dictionary<string, TrackableInfo> m_trackedCloudAnchors = new Dictionary<string, TrackableInfo>();
+ /// <summary>
+ ///
+ /// </summary>
+ private List<ResolveCloudAnchorPromise> _resolvePromises = new List<ResolveCloudAnchorPromise>();
+ /// <summary>
+ ///
+ /// </summary>
+ private List<ResolveCloudAnchorResult> _resolveResults = new List<ResolveCloudAnchorResult>();
+ /// <summary>
+ /// Correspondance between google cloud id and local trackable id
+ /// </summary>
+ private Dictionary<string, string> m_localIdToCloudId = new Dictionary<string, string>();
+
+ /// <summary>
+ /// ETSI ID
+ /// </summary>
+ private Dictionary<string, string> m_CloudIdToETSIId = new Dictionary<string, string>();
+
+ /// <summary>
+ ///
+ /// </summary>
+ private GameObject m_anchorPrefab;
+
+ /// <summary>
+ /// Initialize ARCore cloud anchors tracking module
+ /// </summary>
+ public void Initialize()
+ {
+ XROrigin origin = UnityEngine.Object.FindAnyObjectByType<XROrigin>();
+ m_anchorManager = origin.gameObject.AddComponent<ARAnchorManager>();
+ m_cloudAnchorAdded = new List<string>();
+ m_anchorPrefab = (GameObject)Resources.Load("ARFAnchorTrackingPrefab");
+ m_anchorManager.anchorPrefab = m_anchorPrefab;
+ m_anchorManager.anchorsChanged += OnTrackedCloudAnchorChanged;
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="uuid"></param>
+ /// <returns></returns>
+ public TrackableInfo GetPoseTrackable(Guid uuid)
+ {
+ if (m_trackedCloudAnchors.ContainsKey(uuid.ToString()))
+ {
+ return m_trackedCloudAnchors[uuid.ToString()];
+ }
+ else
+ {
+ return null;
+ }
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="trackable"></param>
+ /// <returns></returns>
+ public bool AddTrackable(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
+ {
+ /// Here : we don't check if the trackable is allready added, AddImageToLibrary does it
+ if (trackable.TrackableType != ETSI.ARF.OpenAPI.WorldStorage.TrackableType.MAP)
+ {
+ return false;
+ }
+ AddNewARCoreCloudAnchor(trackable);
+ return true;
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability()
+ {
+ ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityARCoreAnchor = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
+ capabilityARCoreAnchor.TrackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.MAP;
+ ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure encodingInformation = new ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure();
+ encodingInformation.DataFormat = ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructureDataFormat.ARCORE;
+ encodingInformation.Version = "1.01";
+ capabilityARCoreAnchor.EncodingInformation = encodingInformation;
+ capabilityARCoreAnchor.Framerate = 30; // Not particularly specified on ARKit and ARCore
+ capabilityARCoreAnchor.Latency = 0; // Not particularly specified on ARKit and ARCore
+ capabilityARCoreAnchor.Accuracy = 1; // Not particularly specified on ARKit and ARCore
+ return capabilityARCoreAnchor;
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="eventArgs"></param>
+ private void OnTrackedCloudAnchorChanged(ARAnchorsChangedEventArgs eventArgs)
+ {
+ foreach (var trackedCloudAnchor in eventArgs.updated)
+ {
+ Vector3 position = trackedCloudAnchor.transform.position;
+ Quaternion rotation = trackedCloudAnchor.transform.rotation;
+
+
+ TrackableInfo info = new TrackableInfo();
+ info.name = trackedCloudAnchor.name;
+ string localId = trackedCloudAnchor.trackableId.subId1.ToString("X16");// there must be a better way : does it work every time?
+ if (m_localIdToCloudId.ContainsKey(localId))
+ {
+ info.name = m_CloudIdToETSIId[m_localIdToCloudId[localId]];
+ }
+ else
+ {
+ Debug.Log("ARCore Cloud Anchor No correspondance for Local Anchor " + localId);
+ continue;
+ }
+
+ if (trackedCloudAnchor.trackingState == TrackingState.Tracking)
+ {
+ info.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.OK;
+ info.confidence = 100;
+ }
+ else if (trackedCloudAnchor.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.IMAGE_MARKER;
+ m_trackedCloudAnchors[info.name] = info;
+ }
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="trackable"></param>
+ private async void AddNewARCoreCloudAnchor(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable )
+ {
+ while (ARSession.state == ARSessionState.CheckingAvailability || ARSession.state == ARSessionState.None ||ARSession.state == ARSessionState.SessionInitializing)
+ {
+ await System.Threading.Tasks.Task.Delay(100);
+ }
+ string googleCloudID = trackable.Name;
+ m_CloudIdToETSIId.Add(googleCloudID, trackable.UUID.ToString());
+ ResolveCloudAnchor(googleCloudID);
+ }
+
+ /// <summary>
+ /// Resolves Cloud Anchors using a given id
+ /// </summary>
+ /// <param name="cloudId"></param>
+ public void ResolveCloudAnchor(string cloudId)
+ {
+ var promise = m_anchorManager.ResolveCloudAnchorAsync(cloudId);
+ if (promise.State == PromiseState.Done)
+ {
+ Debug.LogFormat("Failed to resolve Cloud Anchor " + cloudId);
+ }
+ else
+ {
+ _resolvePromises.Add(promise);
+ var coroutine = ResolveAnchor(promise, cloudId);
+ WorldAnalysisARFoundationCoroutineHelper.Instance.StartACoroutine(coroutine);
+ }
+ }
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <param name="promise"></param>
+ /// <returns></returns>
+ private IEnumerator ResolveAnchor(ResolveCloudAnchorPromise promise, string cloudId)
+ {
+ yield return promise;
+ var result = promise.Result;
+ _resolvePromises.Remove(promise);
+ _resolveResults.Add(result);
+
+ if (result.CloudAnchorState == CloudAnchorState.Success)
+ {
+ Debug.Log("ARCloud Anchor Resolve Sucess" +cloudId);
+ m_localIdToCloudId.Add(result.Anchor.trackableId.subId2.ToString("X16"), cloudId); // should be a better way: not sure about that but subId2 of the ARCloudAnchor seems to correspond to subId1 of local anchor that is updated by Anchor Manager
+ }
+ else
+ {
+ Debug.Log("ARCloud Anchor Resolve Failed" + result.CloudAnchorState + " " +cloudId);
+ }
+ }
+}
+
+#endif
\ No newline at end of file
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs.meta b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..9e979e937c28e06821071d940c409c59fd2d374e
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2cec98c043216c94db7d09c20b3cce67
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef b/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
index 80bdd36751824aa6914254f8b4d4947580c2e0fa..8a0ef7e92cea6e2756409282e48069f6b081646e 100644
--- a/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
+++ b/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
@@ -6,7 +6,8 @@
"GUID:065e856e9f9becb49abdf0cb6855a039",
"GUID:a9420e37d7990b54abdef6688edbe313",
"GUID:92703082f92b41ba80f0d6912de66115",
- "GUID:dc960734dc080426fa6612f1c5fe95f3"
+ "GUID:dc960734dc080426fa6612f1c5fe95f3",
+ "GUID:b35d8248e1a04478bb2d70fe76652ddf"
],
"includePlatforms": [],
"excludePlatforms": [],
diff --git a/package.json b/package.json
index ff8e8c773f04d0041784dac220698e59703f81d8..57ef95e85ed246e7f0544a7c8927e47be95aa567 100644
--- a/package.json
+++ b/package.json
@@ -2,16 +2,15 @@
"author": "ETSI-ISG-ARF",
"name": "etsi.isg.arf.worldanalysisarfoundation",
"version": "0.0.1",
- "displayName": "ISG-ARF World Analysis ARFoundation Wrapper Package ",
+ "displayName": "ISG-ARF World Analysis ARFoundation Wrapper Package",
"description": "ARFoundation wrapper for the World Analysis of the Augmented Reality Framework",
"unity": "2021.3",
"dependencies": {
- "etsi.isg.arf.worldstorage" : "0.0.2",
- "etsi.isg.arf.worldanalysis" : "0.0.1",
- "com.unity.xr.arfoundation": "5.1.3",
- "com.unity.xr.arkit": "5.1.3",
- "com.unity.xr.arcore": "5.1.3"
-
- },
+ "etsi.isg.arf.worldstorage": "0.0.2",
+ "etsi.isg.arf.worldanalysis": "0.0.1",
+ "com.unity.xr.arfoundation": "5.1.3",
+ "com.unity.xr.arkit": "5.1.3",
+ "com.unity.xr.arcore": "5.1.3"
+ },
"keywords": []
}
\ No newline at end of file