Merge branch 'develop' into 'main'

Milestone B merge into main

See merge request !1

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LICENSE

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Runtime/Scripts/WorldAnalysisInterface.cs

+using ETSI.ARF.OpenAPI.WorldAnalysis;
+using System;
+
+public interface WorldAnalysisInterface
+{
+    public static WorldAnalysisInterface Instance;
+
+    #region ResponseCode
+
+    /// <summary>
+    /// Ask framerate result
+    /// </summary>
+    public enum AskFrameRateResult
+    {
+        OK, // subscription ok
+        NOT_SUPPORTED, /// trackable type not supported on that platform
+        FRAMERATE_NOT_SUPPORTED, // framerate cannot be reached RQ-AR8-007 The WA function shall provide the pose at the minimum frame rate requested by the SM function, or shall notify the SM function if the requested minimum frame rate cannot be supported
+        NONE // unknown
+    }
+
+    /// <summary>
+    /// Result of the process of a pose estimation
+    /// </summary>
+    public enum PoseEstimationResult
+    {
+        OK,
+        UNKNOWN_ID,
+        NOT_ALLOWED,
+        NOT_SUPPORTED,
+        FAILURE, // RQ-AR8-005 The WA function shall have the ability to send a notification to the SM function in case of a pose estimation failure. 
+        NONE
+    }
+
+
+    /// <summary>
+    /// Callback for receiving a pose
+    /// </summary>
+    /// <param name="estimationResult">last pose estimation result</param>
+    /// <param name="pose">last pose</param>
+    public delegate void PoseCallback(PoseEstimationResult estimationResult, Pose pose);
+
+    /// <summary>
+    /// Result of the process of an operation on the subscription to to the pose of a trackable or anchor
+    /// </summary>
+    public enum InformationSubscriptionResult
+    {
+        OK, // subscription operation ok
+        UNKNOWN_ID, // trackable or anchor is unknown
+        NOT_ALLOWED, // trackable or anchor is not allowed for that user
+        NOT_SUPPORTED, /// trackable not supported on that platform
+        NONE // unknown
+    }
+
+    /// <summary>
+    /// Result when getting information about capabilities
+    /// </summary>
+    public enum CapabilityResult
+    {
+        OK,
+        FAIL,
+        UNKNOWN_ID,
+        NOT_ALLOWED
+    }
+
+    #endregion
+
+    #region Pose
+    /// <summary>
+    /// Ask the world analysis to estimate the pose of a given trackable type at a given framerate
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="type">type of trackable</param>
+    /// <param name="encodingInformation"> Encoding information of the trackable type</param>
+    /// <param name="minimumFramerate">asked minimum framerate   RQ-AR8-006 The WA function should allow the SM function to specify a minimum frame rate for pose estimation.  </param>
+    /// <returns>Result of the set framerate estimation</returns>
+    public AskFrameRateResult SetPoseEstimationFramerate(string token, PoseConfigurationTrackableType type, EncodingInformationStructure encodingInformation, int minimumFramerate);
+
+    /// <summary>
+    /// Pull the most recent pose of a given trackable or anchor
+    /// RQ-AR8-004 The SM function shall have the ability to request the pose for one or several World Anchors or Trackables from the WA function.
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="uuid">id of the trackable or the anchor</param>
+    /// <param name="mode">trackable/anchor to ar device or opposite RQ-AR8-001 The WA function shall provide the SM function with a pose of either an AR device in relation to a WorldAnchor or a Trackable, or conversely a Trackable or World Anchor in relation to the AR device. </param>
+    /// <param name="pose">Last estimated pose</param>
+    /// <returns>The last state of the estimation of this pose</returns>
+    public PoseEstimationResult GetLastPose(string token, Guid uuid, Mode_WorldAnalysis mode, out Pose pose);
+
+    /// <summary>
+    /// Pull the most recent pose of a multiple trackables and anchors
+    /// RQ-AR8-004 The SM function shall have the ability to request the pose for one or several World Anchors or Trackables from the WA function.
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="uuid">list of ids of trackables and anchors</param>
+    /// <param name="mode">list of trackable/anchor to ar device or opposite RQ-AR8-001 The WA function shall provide the SM function with a pose of either an AR device in relation to a WorldAnchor or a Trackable, or conversely a Trackable or World Anchor in relation to the AR device. </param>
+    /// <param name="poses">Last estimated pose</param>
+    /// <returns>The last state of the estimation of this pose</returns>
+    public PoseEstimationResult[] GetLastPoses(string token, Guid[] uuids, Mode_WorldAnalysis [] modes, out Pose [] poses);
+
+    /// <summary>
+    /// Subscribe to receive the pose data of a given trackable or anchor
+    /// RQ-AR8-004 The SM function shall have the ability to request the pose for one or several World Anchors or Trackables from the WA function.
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="uuid">unique identifier of the trackable or anchors</param>
+    /// <param name="mode">trackable/anchor to ar device or opposite RQ-AR8-001 The WA function shall provide the SM function with a pose of either an AR device in relation to a WorldAnchor or a Trackable, or conversely a Trackable or World Anchor in relation to the AR device. </param>
+    /// <param name="callback">function that is called with the pose</param>
+    /// <param name="validity">Subscription validity delay in millisecond</param>
+    /// <param name="subscriptionUUID "> id of the callback</param>
+    /// <returns>Result of the subscription</returns>
+    public InformationSubscriptionResult SubscribeToPose(string token, Guid uuid, Mode_WorldAnalysis mode, PoseCallback callback, ref int validity, out Guid subscriptionUUID);
+
+    /// <summary>
+    /// Subscribe to receive the pose data of a multiple trackables and anchors
+    /// RQ-AR8-004 The SM function shall have the ability to request the pose for one or several World Anchors or Trackables from the WA function.
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="uuids">list of unique identifiers of trackable and anchors</param>
+    /// <param name="modes">list of trackable/anchor to ar device or opposite RQ-AR8-001 The WA function shall provide the SM function with a pose of either an AR device in relation to a WorldAnchor or a Trackable, or conversely a Trackable or World Anchor in relation to the AR device.</param>
+    /// <param name="callback">function that is called with the pose</param>
+    /// <param name="validity">Subscription validity delay in millisecond</param>
+    /// <param name="subscriptionUUIDs"> id of the callback</param>
+    /// <returns>List of subscription result</returns>
+    public InformationSubscriptionResult[] SubscribeToPoses(string token, Guid[] uuids, Mode_WorldAnalysis [] modes, PoseCallback callback, ref int validity, out Guid[] subscriptionUUIDs);
+
+    /// <summary>
+    /// Get the subscription and the associated callback for collecting a given pose
+    /// </summary>
+    /// <param name="token">manage access rights</param>
+    /// <param name="subscriptionUUID">Subscription UUID to retrieve</param>
+    /// <param name="callback">Pose callback</param>
+    /// <param name="target">UUID of the Trackable or Anchor associated with the subscription</param>
+    /// <param name="mode">Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)</param>
+    /// <param name="validity">Remaining Subscription validity delay in millisecond</param>
+    /// <returns>The subscription exists or not</returns>
+    public InformationSubscriptionResult GetSubsription(string token, Guid subscriptionUUID, out PoseCallback callback, out Guid target, out Mode_WorldAnalysis mode, out int validity);
+
+    /// <summary>
+    /// Update an existing subscription
+    /// </summary>
+    /// <param name="token">manage access rights</param>
+    /// <param name="subscriptionUUID">Subscription UUID to update</param>
+    /// <param name="mode">Mode representing the context of the relocalization information (AR device to WorldAnchor/Trackable or WorldAnchor/Trackable to AR device)</param>
+    /// <param name="validity">new validity of the subscription</param>
+    /// <param name="callback">new callback to use</param>
+    /// <returns>The subscription has been updated or not</returns>
+    public InformationSubscriptionResult UpdateSubscription(string token, Guid subscriptionUUID, Mode_WorldAnalysis mode, int validity, PoseCallback callback);
+
+    /// <summary>
+    /// Unsubscribe to a pose
+    /// </summary>
+    /// <param name="subscriptionUUID">id of the subscription</param>
+    /// /// <returns>The unsubscription has been performed or not</returns>
+    public InformationSubscriptionResult UnSubscribeToPose(Guid subscriptionUUID);
+
+    #endregion
+
+    #region Capabilities
+
+    /// <summary>
+    /// Get the capabilities of the world analysis 
+    /// RQ-AR8-009 The WA function shall provide the SM function with information about its capabilities (e.g. frame rate, latency, accuracy or Trackable types supported for the pose estimation).
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="capabilities">for the list of supported capabilites and associated metadata. A capability not included in the list is not supported</param>
+    /// <returns>Capabilities have correctly identified or not</returns>
+    public CapabilityResult GetCapabilities(string token, out Capability[] capabilities);
+
+    /// <summary>
+    /// For a given trackable or anchor, get its support information  
+    /// RQ-AR8-009 The WA function shall provide the SM function with information about its capabilities (e.g. frame rate, latency, accuracy or Trackable types supported for the pose estimation).
+    /// </summary>
+    /// <param name="token">manage access rights RQ-AR8-010 When access control is required by the WA function, the SM function shall provide the WA function with identification information to manage access rights</param>
+    /// <param name="uuid">id of the trackable or anchor</param>
+    /// <param name="isSupported">trackable or anchor can be estimated on current system</param>
+    /// <param name="type">the specified id corresponds to an anchor or trackable</param>
+    /// <param name="capability">list metadata associated with the pose estimation of this element</param>
+    /// <returns>Capabilities have correctly identified or not</returns>
+    public CapabilityResult GetCapability(string token, Guid uuid, out bool isSupported, out TypeWorldStorage type, out Capability [] capability);
+
+    #endregion
+}
\ No newline at end of file

Runtime/Scripts/WorldAnalysisInterface.cs.meta

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Runtime/Scripts/WorldAnalysisREST.cs

+using UnityEngine;
+using ETSI.ARF.OpenAPI.WorldAnalysis;
+using static WorldAnalysisInterface;
+using System;
+
+//Implementation of the WorldAnalysis interface
+public class WorldAnalysisREST : MonoBehaviour, WorldAnalysisInterface
+{
+
+    #region Unity_Methods
+
+    /// <summary>
+    /// Unity Awake Method
+    /// </summary>
+    protected void Awake()
+    {
+    }
+
+    /// <summary>
+    /// Unity Start Method
+    /// </summary>
+    protected void Start()
+    {
+    }
+
+    /// <summary>
+    /// Unity Update Method
+    /// </summary>
+    protected void Update()
+    {
+    }
+
+    #endregion
+
+
+    #region ARF_API
+
+    public  AskFrameRateResult SetPoseEstimationFramerate(string token, PoseConfigurationTrackableType type, EncodingInformationStructure encodingInformation, int minimumFramerate)
+    {
+        return AskFrameRateResult.NOT_SUPPORTED; ///We cannot set any framerate for tracking on ARKit and ARCore
+    }
+
+    public PoseEstimationResult GetLastPose(string token, Guid uuid, Mode_WorldAnalysis mode, out ETSI.ARF.OpenAPI.WorldAnalysis.Pose pose)
+    {
+        pose = null;
+        return PoseEstimationResult.OK;
+    }
+
+
+    public PoseEstimationResult[] GetLastPoses(string token, Guid[] uuids, Mode_WorldAnalysis [] modes, out ETSI.ARF.OpenAPI.WorldAnalysis.Pose[] poses)
+    {
+        poses = null;
+        return null;
+    }
+
+    public InformationSubscriptionResult SubscribeToPose(string token, Guid uuid, Mode_WorldAnalysis mode, PoseCallback callback, ref int validity, out Guid subscriptionUUID)
+    {
+        subscriptionUUID = Guid.Empty;
+        return InformationSubscriptionResult.OK;
+    }
+
+    public InformationSubscriptionResult[] SubscribeToPoses(string token, Guid[] uuids, Mode_WorldAnalysis [] modes, PoseCallback callback, ref int validity, out Guid[] subscriptionUUIDs)
+    {
+        subscriptionUUIDs = null;
+        return null;
+    }
+
+    public InformationSubscriptionResult GetSubsription(string token, Guid subscriptionUUID, out PoseCallback callback, out Guid target, out Mode_WorldAnalysis mode, out int validity)
+    {
+        callback = null;
+        target = Guid.Empty;
+        mode = Mode_WorldAnalysis.TRACKABLES_TO_DEVICE;
+        validity = 0;
+        return InformationSubscriptionResult.OK;
+    }
+
+    public InformationSubscriptionResult UpdateSubscription(string token, Guid subscriptionUUID, Mode_WorldAnalysis mode, int validity, PoseCallback callback)
+    {
+        return InformationSubscriptionResult.OK;
+    }
+
+    public InformationSubscriptionResult UnSubscribeToPose(Guid subscriptionUUID)
+    {
+        return InformationSubscriptionResult.OK;
+    }
+
+    public CapabilityResult GetCapabilities(string token, out Capability[] capabilities)
+    {
+        capabilities = null;
+        return CapabilityResult.OK;
+    }
+
+    public CapabilityResult GetCapability(string token, Guid uuid, out bool isSupported, out TypeWorldStorage type, out Capability [] capability)
+    {
+        isSupported = false;
+        type = TypeWorldStorage.UNKNOWN;
+        capability = null;
+        return CapabilityResult.OK;
+    }
+
+    #endregion
+}
\ No newline at end of file

Runtime/Scripts/WorldAnalysisREST.cs.meta

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Runtime/Scripts/WorldAnalysisUnityHelper.cs

+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class WorldAnalysisUnityHelper 
+{
+    /// <summary>
+    /// Convert a float array of length 3 to a Vector3
+    /// </summary>
+    /// <param name="value">the values to convert</param>
+    /// <returns>Converted Unity Vector3</returns>
+    /// <exception cref="ArgumentException"></exception>
+    public static Vector3 ConvertETSIVector3ToUnity(ETSI.ARF.OpenAPI.WorldAnalysis.Vector3 value)
+    {
+        if (value.Count == 3) return new Vector3(value[0], value[1], value[2]);
+        throw new ArgumentException("The numer of floats in the value parameter must be 3!");
+    }
+
+    /// <summary>
+    ///  Convert a float array of length 4 to a Quaternion
+    /// </summary>
+    /// <param name="value">the values to convert</param>
+    /// <returns>Converted Unity Quaternion</returns>
+    /// <exception cref="ArgumentException"></exception>
+    public static Quaternion ConvertETSIARFQuaternionToUnity(ETSI.ARF.OpenAPI.WorldAnalysis.Quaternion value)
+    {
+        if (value.Count == 4) return new Quaternion(value[0], value[1], value[2], value[3]);
+        throw new ArgumentException("The numer of floats in the value parameter must be 4!");
+    }
+
+    /// <summary>
+    /// Convert a float array of length 16 to a Matrix
+    /// </summary>
+    /// <param name="matrix">the values to convert</param>
+    /// <returns>Converted Unity Matrix</returns>
+    public static Matrix4x4 ConvertETSIARFTransform3DToUnity(ETSI.ARF.OpenAPI.WorldStorage.Transform3D value)
+    {
+        if (value.Count == 16)
+        {
+            Matrix4x4 resul = new Matrix4x4();
+            resul[0, 0] = value[0];
+            resul[0, 1] = value[1];
+            resul[0, 2] = value[2];
+            resul[0, 3] = value[3];
+
+            resul[1, 0] = value[4];
+            resul[1, 1] = value[5];
+            resul[1, 2] = value[6];
+            resul[1, 3] = value[7];
+
+            resul[2, 0] = value[8];
+            resul[2, 1] = value[9];
+            resul[2, 2] = value[10];
+            resul[2, 3] = value[11];
+
+            resul[3, 0] = value[12];
+            resul[3, 1] = value[13];
+            resul[3, 2] = value[14];
+            resul[3, 3] = value[15];
+
+            return resul;
+        }
+        else
+        {
+            throw new ArgumentException("The numer of floats in the value parameter must be 16!");
+        }  
+    }
+
+    /// <summary>
+    /// Function to extract translation from a Matrix4x4
+    /// </summary>
+    /// <param name="matrix"></param>
+    /// <returns></returns>
+    public static Vector3 ExtractTranslationFromMatrix(Matrix4x4 matrix)
+    {
+        return matrix.GetColumn(3);
+    }
+
+    /// <summary>
+    /// Function to extract rotation from a Matrix4x4
+    /// </summary>
+    /// <param name="matrix"></param>
+    /// <returns></returns>
+    public static Quaternion ExtractRotationFromMatrix(Matrix4x4 matrix)
+    {
+        // Convert the matrix to a Quaternion
+        return Quaternion.LookRotation(matrix.GetColumn(2), matrix.GetColumn(1));
+    }
+
+    /// <summary>
+    /// Duplicated generated code means that we need conversion between similar types
+    /// </summary>
+    /// <param name="value">world storage capability</param>
+    /// <returns>clone</returns>
+    public static ETSI.ARF.OpenAPI.WorldAnalysis.Capability ConvertWorldStorageCapability(ETSI.ARF.OpenAPI.WorldStorage.Capability value)
+    {
+        ETSI.ARF.OpenAPI.WorldAnalysis.Capability resul = new ETSI.ARF.OpenAPI.WorldAnalysis.Capability();
+
+        resul.TrackableType = (ETSI.ARF.OpenAPI.WorldAnalysis.TrackableType)((int)value.TrackableType);
+        resul.EncodingInformation = ConvertWorldStorageEncodingInformation(value.EncodingInformation);
+        resul.Framerate = value.Framerate;
+        resul.Latency = value.Latency;
+        resul.Accuracy = value.Accuracy;
+        resul.AdditionalProperties = value.AdditionalProperties; // need copy?
+
+        return resul;
+    }
+
+    /// <summary>
+    /// Duplicated generated code means that we need conversion between similar types
+    /// </summary>
+    /// <param name="value">world storage encodinginformation</param>
+    /// <returns>clone</returns>
+    public static ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure ConvertWorldStorageEncodingInformation(ETSI.ARF.OpenAPI.WorldStorage.EncodingInformationStructure value)
+    {
+        ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure resul = new ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure();
+        resul.DataFormat = (ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructureDataFormat)((int)value.DataFormat);
+        resul.Version = value.Version;
+        resul.AdditionalProperties = value.AdditionalProperties; // need copy ?
+        return resul;
+    }
+
+    /// <summary>
+    /// Duplicated generated code means that we need conversion between similar types
+    /// </summary>
+    /// <param name="value">world storage capability</param>
+    /// <returns>clone</returns>
+    public static ETSI.ARF.OpenAPI.WorldStorage.Capability ConvertWorldAnalysisCapability(ETSI.ARF.OpenAPI.WorldAnalysis.Capability value)
+    {
+        ETSI.ARF.OpenAPI.WorldStorage.Capability resul = new ETSI.ARF.OpenAPI.WorldStorage.Capability();
+        resul.TrackableType = (ETSI.ARF.OpenAPI.WorldStorage.TrackableType)((int)value.TrackableType);
+        resul.EncodingInformation = ConvertWorldAnalysisEncodingInformation(value.EncodingInformation);
+
+        resul.Framerate = value.Framerate;
+        resul.Latency = value.Latency;
+        resul.Accuracy = value.Accuracy;
+
+        resul.AdditionalProperties = value.AdditionalProperties; // need copy?
+        return resul;
+    }
+
+
+    /// <summary>
+    /// Duplicated generated code means that we need conversion between similar types
+    /// </summary>
+    /// <param name="value">world analysis encodinginformation</param>
+    /// <returns>clone</returns>
+    public static ETSI.ARF.OpenAPI.WorldStorage.EncodingInformationStructure ConvertWorldAnalysisEncodingInformation(ETSI.ARF.OpenAPI.WorldAnalysis.EncodingInformationStructure value)
+    {
+        ETSI.ARF.OpenAPI.WorldStorage.EncodingInformationStructure resul = new ETSI.ARF.OpenAPI.WorldStorage.EncodingInformationStructure();
+        resul.DataFormat = (ETSI.ARF.OpenAPI.WorldStorage.EncodingInformationStructureDataFormat)((int)value.DataFormat);
+        resul.Version = value.Version;
+        resul.AdditionalProperties = value.AdditionalProperties; // need copy ?
+        return resul;
+    }
+
+}
+
+namespace ETSI.ARF.OpenAPI.WorldAnalysis
+ {
+    /// <summary>
+    /// Override generated Vector3 constructor
+    /// </summary>
+    public partial class Vector3 : System.Collections.ObjectModel.Collection<float>
+    {
+        public Vector3(float x, float y, float z) : base(new List<float> { x, y, z })
+        {
+        }
+    }
+
+    /// <summary>
+    /// Override generated Quaternion constructor
+    /// </summary>
+    public partial class Quaternion : System.Collections.ObjectModel.Collection<float>
+    {
+        public Quaternion(float x, float y, float z, float w) : base(new List<float> { x, y, z, w})
+        {
+        }
+    }
+}
\ No newline at end of file

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