From 900e2250f8d8b9eaa2514fac3818d7d41213f84d Mon Sep 17 00:00:00 2001
From: jlacoche <jeremy.lacoche@orange.com>
Date: Sat, 6 Jul 2024 00:35:24 +0200
Subject: [PATCH] Add module for arkit world map
---
Runtime/Scripts/WorldAnalysisARFoundation.cs | 2 +
...dAnalysisARFoundationModuleARCoreAnchor.cs | 12 +-
...AnalysisARFoundationModuleARKitWorldMap.cs | 221 ++++++++++++++++++
...sisARFoundationModuleARKitWorldMap.cs.meta | 11 +
.../WorldAnalysisARFoundationModuleImage.cs | 2 +-
...i.isg.arf.worldanalysisarfoundation.asmdef | 3 +-
6 files changed, 243 insertions(+), 8 deletions(-)
create mode 100644 Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs
create mode 100644 Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs.meta
diff --git a/Runtime/Scripts/WorldAnalysisARFoundation.cs b/Runtime/Scripts/WorldAnalysisARFoundation.cs
index 02484a7..055a72d 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundation.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundation.cs
@@ -80,6 +80,8 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
#if UNITY_IOS
WorldAnalysisARFoundationModuleMesh meshModule = new WorldAnalysisARFoundationModuleMesh();
m_trackableModules.Add(meshModule);
+ WorldAnalysisARFoundationModuleARKitWorldMap worldMapModule = new WorldAnalysisARFoundationModuleARKitWorldMap();
+ m_trackableModules.Add(worldMapModule);
#endif
#if ETSIARF_ARCORE_EXTENSIONS
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
index 9bd2d3e..f593e41 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs
@@ -37,10 +37,10 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
}
/// <summary>
- ///
+ /// Get the pose of the trackable from its uuid
/// </summary>
- /// <param name="uuid"></param>
- /// <returns></returns>
+ /// <param name="uuid">id of the trackable</param>
+ /// <returns>null or trackableInfo with last updated values</returns>
public TrackableInfo GetPoseTrackable(Guid uuid)
{
if (m_trackedCloudAnchors.ContainsKey(uuid.ToString()))
@@ -54,10 +54,10 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
}
/// <summary>
- ///
+ /// Need to be a map
/// </summary>
/// <param name="trackable"></param>
- /// <returns></returns>
+ /// <returns>map or not (does not check is solved)</returns>
public bool AddTrackable(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
{
/// Here : we don't check if the trackable is allready added, AddImageToLibrary does it
@@ -130,7 +130,7 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
info.timeStamp = unchecked((int)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds());
info.position = position;
info.rotation = rotation;
- info.trackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.IMAGE_MARKER;
+ info.trackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.MAP;
m_trackedCloudAnchors[info.name] = info;
}
}
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs
new file mode 100644
index 0000000..5bb1ea4
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs
@@ -0,0 +1,221 @@
+
+#if UNITY_IOS
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+using UnityEngine.XR.ARKit;
+using System.IO;
+using Unity.XR.CoreUtils;
+using static WorldAnalysisARFoundationModule;
+using ETSI.ARF.OpenAPI.WorldStorage;
+using Unity.Collections;
+
+
+public class WorldAnalysisARFoundationModuleARKitWorldMap : WorldAnalysisARFoundationModule
+{
+ /// <summary>
+ /// Anchor manager
+ /// </summary>
+ private ARAnchorManager m_anchorManager;
+ ///Has loaded a worl map
+ private bool m_hasAddedMap ;
+ /// Possible trackable id (arfoundation) of an anchor contained in the world map. Take the pose of this anchor if it exists or zero
+ private string m_arfoundationAnchorTrackableId ;
+ /// uuId of the map trackabled
+ private Guid m_trackedUUID ;
+ /// computed and updated pose
+ private TrackableInfo m_trackedPose ;
+
+ /// <summary>
+ /// Initialize image tracking module
+ /// </summary>
+ 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.anchorsChanged += OnTrackedAnchorChanged;
+ m_trackedPose = null ;
+ m_hasAddedMap= false ;
+ }
+
+ /// <summary>
+ /// found
+ /// </summary>
+ /// <param name="uuid">name of the mesh trackable</param>
+ public TrackableInfo GetPoseTrackable(Guid uuid)
+ {
+ if (m_trackedPose != null)
+ {
+ if (m_trackedUUID == uuid)
+ {
+ return m_trackedPose ;
+ }
+ }
+ return null;
+ }
+
+ /// <summary>
+ /// Add a trackable : need to be a map
+ /// </summary>
+ /// <param name="trackable">Image trackable</param>
+ /// <returns>Supported or not</returns>
+ public bool AddTrackable(Trackable trackable)
+ {
+ if (trackable.TrackableType != ETSI.ARF.OpenAPI.WorldStorage.TrackableType.MAP)
+ {
+ return false;
+ }
+ if (m_hasAddedMap)
+ {
+ Debug.Log("Only one ARKit map can be loaded");
+ return false ;
+ }
+
+ // Check if a map url is provided
+ string url = "" ;
+ if (trackable.KeyvalueTags.ContainsKey("url"))
+ {
+ foreach(string s in trackable.KeyvalueTags["url"])
+ {
+ // first one
+ url = s ;
+ break ;
+ }
+ }
+ bool resul = AddWorldMapToARKit(url);
+ m_trackedUUID = trackable.UUID ;
+ m_arfoundationAnchorTrackableId = trackable.Name ;
+ m_hasAddedMap = resul ;
+ return resul;
+ }
+
+ /// <summary>
+ /// Initialize capability object with Mesh tracking
+ /// </summary>
+ public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability()
+ {
+ ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityMesh = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
+ capabilityMesh.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.ARKIT;
+ encodingInformation.Version = "1.01";
+ capabilityMesh.EncodingInformation = encodingInformation;
+ capabilityMesh.Framerate = 30; // Not particularly specified on ARKit
+ capabilityMesh.Latency = 0; // Not particularly specified on ARKit
+ capabilityMesh.Accuracy = 1; // Not particularly specified on ARKit
+ return capabilityMesh ;
+ }
+
+ /// <summary>
+ /// Callback when Unity anchors are updated
+ /// </summary>
+ /// <param name="eventArgs">update values</param>
+ private void OnTrackedAnchorChanged(ARAnchorsChangedEventArgs eventArgs)
+ {
+ foreach (var trackedAnchor in eventArgs.updated)
+ {
+ if (trackedAnchor.trackableId.ToString() == m_arfoundationAnchorTrackableId)
+ {
+ /// look for an anchor with the trackable Id correspond to the ETSI ARF trackable name
+ UpdateTrackableInfoWithPose(trackedAnchor.transform.position,trackedAnchor.transform.rotation);
+ break ;
+ }
+ }
+ }
+
+ /// <summary>
+ /// Add a map to arkitsubsystem : check local file exist or download from given url
+ /// </summary>
+ /// <param name="url">url of a map to download</param>
+ /// <returns>found or not</returns>
+ protected bool AddWorldMapToARKit(string url)
+ {
+ if (url.Length > 0)
+ {
+ LoadWorldMapFromURL(url);
+ // don't check if url is valid
+ return true ;
+ }
+ else
+ {
+ string localMap = Application.persistentDataPath + "/ARkitWorlMap.map";
+ if (File.Exists(localMap))
+ {
+ var coroutine = CoroutineLoadWorldMap(localMap);
+ WorldAnalysisARFoundationCoroutineHelper.Instance.StartACoroutine(coroutine);
+ return true ;
+ }
+ }
+ // no url and no local map
+ return false ;
+ }
+
+ /// <summary>
+ /// Update pose of the map trackable
+ /// </summary>
+ /// </param name="position"> evaluated position of trackable/param>
+ /// </param name="rotation"> evaluated rotation of the trackable</param>
+ private void UpdateTrackableInfoWithPose(Vector3 position, Quaternion rotation)
+ {
+ m_trackedPose = new TrackableInfo();
+ m_trackedPose.name = m_arfoundationAnchorTrackableId;
+ m_trackedPose.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.OK; // here : could check the state of the ARKit slam
+ m_trackedPose.confidence = 100;
+ m_trackedPose.timeStamp = unchecked((int)DateTimeOffset.UtcNow.ToUnixTimeMilliseconds());
+ m_trackedPose.position = position;
+ m_trackedPose.rotation = rotation;
+ m_trackedPose.trackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.MAP;
+ }
+
+ /// <summary>
+ /// Load a world map from a url
+ /// </summary>
+ /// </param name="url"> url to the worlmap to download</param>
+ private async void LoadWorldMapFromURL(string url)
+ {
+ Debug.Log("Download WorlMap from url "+ url);
+ KeyValuePair<string , string> downloaded = await WorldAnalysisARFoundationHelper.DownloadFileHTTP(url);
+ var coroutine = CoroutineLoadWorldMap(downloaded.Key);
+ WorldAnalysisARFoundationCoroutineHelper.Instance.StartACoroutine(coroutine);
+ }
+
+ /// <summary>
+ /// Load current map from path
+ /// </summary>
+ /// <param name="mapPath">path of the map</param>
+ /// <returns>coroutine</returns>
+ public IEnumerator CoroutineLoadWorldMap(string mapPath)
+ {
+ ARSession session = Component.FindAnyObjectByType<ARSession>() ;
+ ARKitSessionSubsystem sessionSubsystem = (ARKitSessionSubsystem)session.subsystem;
+ FileStream file;
+ file = File.Open(mapPath, FileMode.Open);
+ const int bytesPerFrame = 1024 * 10;
+ var bytesRemaining = file.Length;
+ var binaryReader = new BinaryReader(file);
+ var allBytes = new List<byte>();
+ while (bytesRemaining > 0)
+ {
+ var bytes = binaryReader.ReadBytes(bytesPerFrame);
+ allBytes.AddRange(bytes);
+ bytesRemaining -= bytesPerFrame;
+ yield return null;
+ }
+
+ var data = new NativeArray<byte>(allBytes.Count, Allocator.Temp);
+ data.CopyFrom(allBytes.ToArray());
+ ARWorldMap worldMap;
+ if (ARWorldMap.TryDeserialize(data, out worldMap))
+ {
+ data.Dispose();
+ }
+ sessionSubsystem.ApplyWorldMap(worldMap);
+ UpdateTrackableInfoWithPose(Vector3.zero, Quaternion.identity); // before trying to find an anchor: default pause is origin of the map
+ }
+}
+#endif
\ No newline at end of file
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs.meta b/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs.meta
new file mode 100644
index 0000000..ac4deff
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleARKitWorldMap.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0eb5e51c9f2ae4e8db0c43c245bf7b41
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
index bba58d8..ab15c6e 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
@@ -212,7 +212,7 @@ public class WorldAnalysisARFoundationModuleImage : WorldAnalysisARFoundationMod
/// </param name="url"> url to the image to download</param>
/// <param name="fileName">file name</param>
/// <param name="imageWidthInMeters">image width in meters</param>
- public async void LoadTextureFromURL(string url, string fileName, float imageWidthInMeters)
+ private async void LoadTextureFromURL(string url, string fileName, float imageWidthInMeters)
{
Debug.Log("Download image from url "+ url);
m_allDownloadedImages.Add(url);
diff --git a/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef b/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
index 8a0ef7e..6ce3bc4 100644
--- a/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
+++ b/Runtime/etsi.isg.arf.worldanalysisarfoundation.asmdef
@@ -7,7 +7,8 @@
"GUID:a9420e37d7990b54abdef6688edbe313",
"GUID:92703082f92b41ba80f0d6912de66115",
"GUID:dc960734dc080426fa6612f1c5fe95f3",
- "GUID:b35d8248e1a04478bb2d70fe76652ddf"
+ "GUID:b35d8248e1a04478bb2d70fe76652ddf",
+ "GUID:dfd0ce20189d48e5b22bb4134b558f5a"
],
"includePlatforms": [],
"excludePlatforms": [],
--
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