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new file mode 100644
index 0000000000000000000000000000000000000000..859d8131cdd241b21b4dd1a470972060fdd23743
--- /dev/null
+++ b/Runtime/Resources/ARFObjectLibrary.asset.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 487aef79f5a474b3aa285c3d2b2d29f3
+NativeFormatImporter:
+ externalObjects: {}
+ mainObjectFileID: 11400000
+ userData:
+ assetBundleName:
+ assetBundleVariant:
diff --git a/Runtime/Scripts/WorldAnalysisARFoundation.cs b/Runtime/Scripts/WorldAnalysisARFoundation.cs
index 470bc318803ea5ab9dd408e0e9a99c2631170c7e..bd82b85fc9caf3da00099d0a4ead5456560a54a1 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundation.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundation.cs
@@ -26,9 +26,9 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
private Dictionary<Guid, ETSI.ARF.OpenAPI.WorldAnalysis.Pose> m_computedPoses;
/// <summary>
- /// Module Image
+ /// all trackable modules
/// </summary>
- private WorldAnalysisARFoundationModuleImage m_imageTrackableModule;
+ private List<WorldAnalysisARFoundationModule> m_trackableModules;
/// <summary>
/// World Storage Info object
@@ -72,8 +72,18 @@ 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_imageTrackableModule = new WorldAnalysisARFoundationModuleImage();
- m_imageTrackableModule.Initialize();
+
+ m_trackableModules = new List<WorldAnalysisARFoundationModule>();
+ WorldAnalysisARFoundationModuleImage imageModule = new WorldAnalysisARFoundationModuleImage();
+ m_trackableModules.Add(imageModule);
+ #if UNITY_IOS
+ WorldAnalysisARFoundationModuleMesh meshModule = new WorldAnalysisARFoundationModuleMesh();
+ m_trackableModules.Add(meshModule);
+ #endif
+ foreach(WorldAnalysisARFoundationModule module in m_trackableModules)
+ {
+ module.Initialize();
+ }
m_storageInfo = FindObjectOfType<WorldStorageInfo>();
m_worldStorageServer = m_storageInfo.worldStorageServer;
@@ -136,7 +146,7 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
//We fill in the confidence level lists.
foreach (KeyValuePair<Guid, RelocObjects> relocObject in temp)
{
- WorldAnalysisARFoundationModule.TrackableInfo inf = m_imageTrackableModule.GetPoseTrackable(relocObject.Value.Trackable.Name); // for now only image module
+ WorldAnalysisARFoundationModule.TrackableInfo inf = GetPoseTrackableUUID(relocObject.Value.Trackable.UUID); // for now only image module
if (inf != null)
{
if (inf.confidence == 100)
@@ -179,7 +189,7 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
if (bestTrackableCandidateID != Guid.Empty)
{
/// We have found the best trackable
- WorldAnalysisARFoundationModule.TrackableInfo info = m_imageTrackableModule.GetPoseTrackable(temp[bestTrackableCandidateID].Trackable.Name);
+ WorldAnalysisARFoundationModule.TrackableInfo info = GetPoseTrackableUUID(temp[bestTrackableCandidateID].Trackable.UUID);
if (info == null)
{
// For now we just ignore it : we could also send not tracked todo
@@ -294,7 +304,6 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
return PoseEstimationResult.OK;
}
-
public PoseEstimationResult[] GetLastPoses(string token, Guid[] uuids, Mode_WorldAnalysis[] modes, out ETSI.ARF.OpenAPI.WorldAnalysis.Pose[] poses)
{
if (uuids.Length != modes.Length)
@@ -315,7 +324,6 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
return resul;
}
-
public InformationSubscriptionResult SubscribeToPose(string token, Guid uuid, Mode_WorldAnalysis mode, PoseCallback callback, ref int validity, out Guid subscriptionUUID)
{
RelocalizationInformation relocInfo = null;
@@ -469,19 +477,9 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
{
List<ETSI.ARF.OpenAPI.WorldAnalysis.Capability> capabilitiesList = new List<ETSI.ARF.OpenAPI.WorldAnalysis.Capability>();
- /// Image Tracking
- if (m_imageTrackableModule != null)
+ foreach(WorldAnalysisARFoundationModule module in m_trackableModules)
{
- ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityImage = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
- capabilityImage.TrackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.IMAGE_MARKER;
- ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure encodingInformation = new ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure();
- encodingInformation.DataFormat = ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructureDataFormat.OTHER;
- encodingInformation.Version = "1.01";
- capabilityImage.EncodingInformation = encodingInformation;
- capabilityImage.Framerate = 30; // Not particularly specified on ARKit and ARCore
- capabilityImage.Latency = 0; // Not particularly specified on ARKit and ARCore
- capabilityImage.Accuracy = 1; // Not particularly specified on ARKit and ARCore
- capabilitiesList.Add(capabilityImage);
+ capabilitiesList.Add(module.GetSupportedCapability());
}
capabilities = capabilitiesList.ToArray();
@@ -501,6 +499,25 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
#region Helper
+ /// <summary>
+ /// Find in all modules the tracking info of a trackable with its name
+ /// </summary>
+ /// <param name="uuid"></param>
+ /// <returns>Tracking info if found else null</returns>
+ private WorldAnalysisARFoundationModule.TrackableInfo GetPoseTrackableUUID(Guid uuid)
+ {
+ foreach (WorldAnalysisARFoundationModule module in m_trackableModules)
+ {
+ ///Improve latter : not good to check all modules
+ WorldAnalysisARFoundationModule.TrackableInfo info = module.GetPoseTrackable(uuid);
+ if (info !=null)
+ {
+ return info ;
+ }
+ }
+ return null ;
+ }
+
/// <summary>
/// To select the best trackable
/// </summary>
@@ -510,7 +527,7 @@ 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 défaut = grande distance (à changer)
+ float bestDistance = 100.0f; //valeur par d�faut = grande distance (� changer)
Guid selectedTrackableUUID = Guid.Empty;
//if only one trackable is candidate
@@ -553,7 +570,7 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
// select the corresponding candidate from the list of candidates
if (tmp.Trackable.UUID == distanceCandidate)
{
- WorldAnalysisARFoundationModule.TrackableInfo inf = m_imageTrackableModule.GetPoseTrackable(tmp.Trackable.Name);
+ WorldAnalysisARFoundationModule.TrackableInfo inf = GetPoseTrackableUUID(tmp.Trackable.UUID);
float distance = UnityEngine.Vector3.Distance(cameraTransformPos, inf.position);
@@ -578,10 +595,9 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
bool hasSupport = false;
foreach (RelocObjects relocObj in relocInfo.RelocObjects)
{
- /// We try to find a supported trackable
- if (relocObj.Trackable.TrackableType == ETSI.ARF.OpenAPI.WorldStorage.TrackableType.IMAGE_MARKER)
+ foreach(WorldAnalysisARFoundationModule module in m_trackableModules)
{
- hasSupport |= m_imageTrackableModule.AddTrackable(relocObj.Trackable);
+ hasSupport |= module.AddTrackable(relocObj.Trackable);
}
}
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModule.cs b/Runtime/Scripts/WorldAnalysisARFoundationModule.cs
index 3951fcc63ee5c09b76bcac3c421547b714c61dd2..4b9d7451782fd9382d271ed0f9280a20c4c8b260 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundationModule.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModule.cs
@@ -1,4 +1,5 @@
using UnityEngine;
+using System;
public interface WorldAnalysisARFoundationModule
{
@@ -31,7 +32,12 @@ public interface WorldAnalysisARFoundationModule
/// <summary>
///
/// </summary>
- /// <param name="name"></param>
- public TrackableInfo GetPoseTrackable(string name);
+ /// <param name="uuid"></param>
+ public TrackableInfo GetPoseTrackable(Guid uuid);
+
+ /// <summary>
+ /// Initialize capability object with the features of the
+ /// </summary>
+ public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability();
}
\ No newline at end of file
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
index e7da9b28494ef549c2aec30f87419464b43beef3..4908f8b409b3c041ef348cc11d451252d155a8ae 100644
--- a/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleImage.cs
@@ -23,9 +23,9 @@ public class WorldAnalysisARFoundationModuleImage : WorldAnalysisARFoundationMod
/// </summary>
private Dictionary<string,TrackableInfo> m_trackedImages = new Dictionary<string,TrackableInfo>();
/// <summary>
- /// Default Constructor
+ /// Link between trackable name and uuid
/// </summary>
- public WorldAnalysisARFoundationModuleImage() { }
+ private Dictionary<Guid, string> m_uuidToName = new Dictionary<Guid, string >();
/// <summary>
/// Initialize image tracking module
@@ -40,20 +40,20 @@ public class WorldAnalysisARFoundationModuleImage : WorldAnalysisARFoundationMod
}
/// <summary>
- /// found : pourrait aussi tracké pas tracké, on pourrait aussi ajouter la cofiance si dispo dans l'API
+ /// found
/// </summary>
- /// <param name="name">name of the image trackable</param>
-
- public TrackableInfo GetPoseTrackable(string name)
+ /// <param name="uuid">name of the image trackable</param>
+ public TrackableInfo GetPoseTrackable(Guid uuid)
{
- if (m_trackedImages.ContainsKey(name))
- {
- return m_trackedImages[name];
- }
- else
+ if (m_uuidToName.ContainsKey(uuid))
{
- return null;
+ string name = m_uuidToName[uuid];
+ if (m_trackedImages.ContainsKey(name))
+ {
+ return m_trackedImages[name];
+ }
}
+ return null;
}
/// <summary>
@@ -68,8 +68,29 @@ public class WorldAnalysisARFoundationModuleImage : WorldAnalysisARFoundationMod
{
return false;
}
- AddImageToLibrary(trackable.Name, (float)trackable.TrackableSize[0]);
- return true;
+ bool resul = AddImageToLibrary(trackable.Name, (float)trackable.TrackableSize[0]);
+ if (resul)
+ {
+ m_uuidToName[trackable.UUID] = trackable.Name;
+ }
+ return resul;
+ }
+
+ /// <summary>
+ /// Initialize capability object with image tracking
+ /// </summary>
+ public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability()
+ {
+ ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityImage = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
+ capabilityImage.TrackableType = ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType.IMAGE_MARKER;
+ ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure encodingInformation = new ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure();
+ encodingInformation.DataFormat = ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructureDataFormat.OTHER;
+ encodingInformation.Version = "1.01";
+ capabilityImage.EncodingInformation = encodingInformation;
+ capabilityImage.Framerate = 30; // Not particularly specified on ARKit and ARCore
+ capabilityImage.Latency = 0; // Not particularly specified on ARKit and ARCore
+ capabilityImage.Accuracy = 1; // Not particularly specified on ARKit and ARCore
+ return capabilityImage;
}
/// <summary>
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs b/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs
new file mode 100644
index 0000000000000000000000000000000000000000..77d841a65508eee49dcd691be6fba9fdd15ad5ca
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs
@@ -0,0 +1,205 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+using System.IO;
+using Unity.XR.CoreUtils;
+using static WorldAnalysisARFoundationModule;
+using ETSI.ARF.OpenAPI.WorldStorage;
+
+public class WorldAnalysisARFoundationModuleMesh : WorldAnalysisARFoundationModule
+{
+ /// <summary>
+ /// ARFoundation Image tracking management
+ /// </summary>
+ private ARTrackedObjectManager m_trackedObjectManager;
+ /// <summary>
+ /// Name of all meshes that have been added to the library
+ /// </summary>
+ private List<string> m_trackedMeshesInLibrary;
+ /// <summary>
+ /// List of tracked meshses with tracking infos
+ /// </summary>
+ private Dictionary<string,TrackableInfo> m_trackedMeshes = new Dictionary<string,TrackableInfo>();
+ /// <summary>
+ /// Link between trackable name and uuid
+ /// </summary>
+ private Dictionary<Guid, string> m_uuidToName = new Dictionary<Guid, string >();
+ /// <summary>
+ /// Bundle with all the XRReferenceObjectEntry
+ /// </summary>
+ private XRReferenceObjectEntry [] m_entries ;
+
+ /// <summary>
+ /// Initialize image tracking module
+ /// </summary>
+ public void Initialize()
+ {
+ XROrigin origin = UnityEngine.Object.FindAnyObjectByType<XROrigin>();
+ m_trackedObjectManager = origin.gameObject.AddComponent<ARTrackedObjectManager>();
+ XRReferenceObjectLibrary library = (XRReferenceObjectLibrary) Resources.Load("ARFObjectLibrary");
+ m_trackedObjectManager.referenceLibrary = library ;
+ m_trackedMeshesInLibrary = new List<string>();
+ m_trackedObjectManager.trackedObjectPrefab = (GameObject)Resources.Load("ARFMeshTrackingPrefab");
+ m_trackedObjectManager.trackedObjectsChanged += OnTrackedMeshesChanged;
+ m_trackedObjectManager.enabled = true ; // when instantiated without library : it is disabled
+ m_entries = null;
+
+ #if UNITY_EDITOR
+ string bundlePath = Application.streamingAssetsPath + "/arfmeshes" ;
+ #else
+ string bundlePath = Application.persistentDataPath + "/arfmeshes" ;
+ #endif
+ if (System.IO.File.Exists(bundlePath))
+ {
+ AssetBundle bu = AssetBundle.LoadFromFile(bundlePath);
+ m_entries = bu.LoadAllAssets<XRReferenceObjectEntry>() ;
+ }
+ }
+
+ /// <summary>
+ /// found
+ /// </summary>
+ /// <param name="uuid">name of the mesh trackable</param>
+ public TrackableInfo GetPoseTrackable(Guid uuid)
+ {
+ if (m_uuidToName.ContainsKey(uuid))
+ {
+ string name = m_uuidToName[uuid];
+ if (m_trackedMeshes.ContainsKey(name))
+ {
+ return m_trackedMeshes[name];
+ }
+ }
+ return null;
+ }
+
+ /// <summary>
+ /// Add a trackable : need to be an image
+ /// </summary>
+ /// <param name="trackable">Image trackable</param>
+ /// <returns>Supported or not</returns>
+ public bool AddTrackable(Trackable trackable)
+ {
+ /// Here : we don't check if the trackable is allready added, AddMeshToLibrary does it
+ if (trackable.TrackableType != ETSI.ARF.OpenAPI.WorldStorage.TrackableType.MESH)
+ {
+ return false;
+ }
+ bool resul = AddMeshToLibrary(trackable.Name) ;// (float)trackable.TrackableSize[0]);
+ if (resul)
+ {
+ m_uuidToName[trackable.UUID] = trackable.Name;
+ }
+ return true;
+ }
+
+ /// <summary>
+ /// Initialize capability object with image 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.MESH;
+ 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>
+ /// Event manager for when a mesh is tracked
+ /// </summary>
+ /// <param name="eventArgs">the event</param>
+ private void OnTrackedMeshesChanged(ARTrackedObjectsChangedEventArgs eventArgs)
+ {
+ foreach (var trackedMesh in eventArgs.updated)
+ {
+ Vector3 position = trackedMesh.transform.position;
+ Quaternion rotation = trackedMesh.transform.rotation;
+
+ TrackableInfo info = new TrackableInfo();
+ info.name = trackedMesh.referenceObject.name;
+ if (trackedMesh.trackingState == TrackingState.Tracking)
+ {
+ info.state = ETSI.ARF.OpenAPI.WorldAnalysis.PoseEstimationState.OK;
+ info.confidence = 100;
+ }
+ else if (trackedMesh.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.MESH;
+ m_trackedMeshes[info.name] = info;
+ }
+ }
+
+ /// <summary>
+ /// Add a new mesh to the arfoundation library
+ /// </summary>
+ /// <param name="fileName">file name</param>
+ /// <returns></returns>
+ protected bool AddMeshToLibrary(string fileName)
+ {
+ // check if mesh is in the library
+ if (m_trackedMeshesInLibrary.Contains(fileName))
+ {
+ Debug.Log("Mesh allready added to library");
+ return true;
+ }
+
+ if (m_entries == null)
+ {
+ Debug.LogWarning("Try to Track Mesh but ARF Bundle with meshes is null");
+ return false ;
+ }
+
+ XRReferenceObjectEntry toAdd = null ;
+ foreach(XRReferenceObjectEntry entry in m_entries)
+ {
+ if (entry.name == fileName)
+ {
+ toAdd = entry ;
+ }
+ }
+ if (toAdd == null)
+ {
+ Debug.LogWarning("Try to Track Mesh " + fileName + " but XRReferenceObjectEntry not found in bundle");
+ return false;
+ }
+
+ AddARObjectEntryToLibrary(toAdd , fileName);
+ return true;
+ }
+
+ /// <summary>
+ /// Add a Mesh
+ /// </summary>
+ private async void AddARObjectEntryToLibrary(XRReferenceObjectEntry arobject , string objectName)
+ {
+ while (ARSession.state == ARSessionState.CheckingAvailability || ARSession.state == ARSessionState.None)
+ {
+ await System.Threading.Tasks.Task.Delay(100);
+ }
+
+ XRReferenceObject referenceObject = new XRReferenceObject(objectName);
+ referenceObject.AddEntry(arobject);
+ m_trackedObjectManager.referenceLibrary.Add(referenceObject);
+
+ if (!m_trackedObjectManager.enabled) m_trackedObjectManager.enabled = true; // necessary because when object manger is instantiated without library it is disabled
+ }
+}
\ No newline at end of file
diff --git a/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs.meta b/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs.meta
new file mode 100644
index 0000000000000000000000000000000000000000..6b5b5db14b075698b923ff33aef50b98b0291fe9
--- /dev/null
+++ b/Runtime/Scripts/WorldAnalysisARFoundationModuleMesh.cs.meta
@@ -0,0 +1,11 @@
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+guid: 19f8755167c0547cab884eab1fc44dc1
+MonoImporter:
+ externalObjects: {}
+ serializedVersion: 2
+ defaultReferences: []
+ executionOrder: 0
+ icon: {instanceID: 0}
+ userData:
+ assetBundleName:
+ assetBundleVariant: