Runtime/Resources/ARFAnchorTrackingPrefab.prefab

@@ -18,7 +18,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!4 &5663275178603938767
 Transform:
   m_ObjectHideFlags: 0

Runtime/Scripts/WorldAnalysisARFoundation.cs

@@ -393,8 +393,13 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
                 }
             }
 
+
             /// Collect relocalization information
             ETSI.ARF.OpenAPI.WorldStorage.Response response = RelocalizationInformationRequest.GetRelocalizationInformation(m_worldStorageServer, uuids, modes, capabilities);
+            if(response == null)
+            {
+                Debug.Log("ESTI ARF GetRelocalizationInformation : request response is null");
+            }
             relocInfo = response.RelocInfo.First(); //Only one uuid requested
         }
         else
@@ -408,7 +413,6 @@ public class WorldAnalysisARFoundation : MonoBehaviour, WorldAnalysisInterface
             /// Subscription not possible
             return InformationSubscriptionResult.NONE;
         }
-
         return CreateSubscriptionWithRelocalizationInformation(relocInfo, uuid, mode, callback, ref validity, out subscriptionUUID);
     }
 

Runtime/Scripts/WorldAnalysisARFoundationModule.cs

@@ -30,13 +30,14 @@ public interface WorldAnalysisARFoundationModule
     public bool AddTrackable(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable);
 
     /// <summary>
-    ///  
+    /// Get the pose of the trackable from its uuid
     /// </summary>
-    /// <param name="uuid"></param>
+    /// <param name="uuid">id of the trackable</param>
+    /// <returns>null or trackableInfo with last updated values</returns>
     public TrackableInfo GetPoseTrackable(Guid uuid);
     
     /// <summary>
-    ///  Initialize capability object with the features of the
+    ///  Initialize capability object with the features of the module
     /// </summary>
     public ETSI.ARF.OpenAPI.WorldAnalysis.Capability  GetSupportedCapability();
 

Runtime/Scripts/WorldAnalysisARFoundationModuleARCoreAnchor.cs

@@ -74,9 +74,9 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
     }
 
     /// <summary>
-    /// 
+    /// Initialize capability object with the features of the arcore cloud anchor module
     /// </summary>
-    /// <returns></returns>
+    /// <returns>a Capability object</returns>
     public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability()
     {
         ETSI.ARF.OpenAPI.WorldAnalysis.Capability capabilityARCoreAnchor = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
@@ -92,7 +92,7 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
     }
 
     /// <summary>
-    /// 
+    /// Update arcore cloud anchors informations
     /// </summary>
     /// <param name="eventArgs"></param>
     private void OnTrackedCloudAnchorChanged(ARAnchorsChangedEventArgs eventArgs)
@@ -140,10 +140,10 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
     }
 
     /// <summary>
-    /// 
+    /// Create a new ARCore Cloud anchor using ARCore API id 
     /// </summary>
     /// <param name="trackable"></param>
-    private async void AddNewARCoreCloudAnchor(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable )
+    private async void AddNewARCoreCloudAnchor(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
     {
         while (ARSession.state == ARSessionState.CheckingAvailability || ARSession.state == ARSessionState.None ||ARSession.state == ARSessionState.SessionInitializing)
         {
@@ -172,7 +172,7 @@ public class WorldAnalysisARFoundationModuleARCoreAnchor : WorldAnalysisARFounda
     }
 
     /// <summary>
-    /// 
+    /// Resolves cloud anchor promise
     /// </summary>
     /// <param name="promise"></param>
     /// <returns></returns>

Runtime/Scripts/WorldAnalysisARFoundationModuleGeospatial.cs

@@ -15,16 +15,26 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
     /// </summary>
     private ARAnchorManager m_anchorManager;
 
+    /// <summary>
+    /// Earth manager
+    /// </summary>
     private AREarthManager m_arEarthManager;
 
+    /// <summary>
+    /// List of geospatial anchors with tracking infos
+    /// </summary>
     private Dictionary<string, TrackableInfo> m_trackedGeospatialAnchors = new Dictionary<string, TrackableInfo>();
 
-    private bool geospatialSupported = true;
-
+    /// <summary>
     /// Correspondance between local trackable and etsi uuid
     /// </summary>
     private Dictionary<string, string> m_localIdToEtsiId = new Dictionary<string, string>();
 
+    /// <summary>
+    /// Check if ARCore Geospatial is supported on the device
+    /// </summary>
+    private bool geospatialSupported = true;
+
     /// <summary>
     /// Initialize ARCore geospatial anchors tracking module
     /// </summary>
@@ -43,10 +53,10 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
     }
 
     /// <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_trackedGeospatialAnchors.ContainsKey(uuid.ToString()))
@@ -60,12 +70,13 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
     }
 
     /// <summary>
-    /// 
+    /// Need to be a geopose
     /// </summary>
     /// <param name="trackable"></param>
-    /// <returns></returns>
+    /// <returns>geopose or not (does not check is solved)</returns>
     public bool AddTrackable(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
     {
+        Debug.Log("GEO : Add Geosptial Trackable");
         if (!geospatialSupported) return false;
 
         if (trackable.TrackableType != ETSI.ARF.OpenAPI.WorldStorage.TrackableType.GEOPOSE)
@@ -77,23 +88,55 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
         return true;
     }
 
+    /// <summary>
+    /// Initialize capability object with the features of the geospatial module
+    /// </summary>
+    /// <returns>null if ARCore Geospatial is not supported on the device, or a Capability object</returns>
+    public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability()
+    {
+        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>
+    /// Creates a new ARCore Geospatial anchor using informations from a geopose trackable object
+    /// </summary>
+    /// <param name="trackable"></param>
     public async void CreateGeosptialAnchor(ETSI.ARF.OpenAPI.WorldStorage.Trackable trackable)
     {
+
+        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));
+        }
+
         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)
             {
+                Debug.Log("Geo : checking " + ARSession.state + "  " + m_arEarthManager.EarthState + "   " + m_arEarthManager.EarthTrackingState);
                 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;
+                Debug.Log("Geo : not supported");
             }
             else
             {
-                double[] values = new double[trackable.TrackablePayload.Length / sizeof(double)];
+                values = new double[trackable.TrackablePayload.Length / sizeof(double)];
 
                 for (int i = 0; i < values.Length; i++)
                 {
@@ -111,31 +154,10 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
         }
     }
 
-
     /// <summary>
-    /// 
+    /// Update geospatial anchors informations
     /// </summary>
-    /// <returns></returns>
-    public ETSI.ARF.OpenAPI.WorldAnalysis.Capability GetSupportedCapability() //s'occuper de a (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>
+    /// <param name="eventArgs">Event arguments for the <see cref="ARAnchorManager.anchorsChanged"/> event</param>
     private void OnTrackedGeospatialAnchorChanged(ARAnchorsChangedEventArgs eventArgs)
     {
         foreach (var trackedGeospatialAnchor in eventArgs.updated)
@@ -153,7 +175,7 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
             }
             else
             {
-                Debug.Log("ARCore Geospatial Anchor No correspondance for Local Anchor " + localId);
+                //Debug.Log("ARCore Geospatial Anchor No correspondance for Local Anchor " + localId);
                 continue;
             }
 
@@ -181,5 +203,4 @@ public class WorldAnalysisARFoundationModuleGeospatial : WorldAnalysisARFoundati
         }
     }
 }
-
 #endif
\ No newline at end of file