435 lines
14 KiB
C#
435 lines
14 KiB
C#
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/*===============================================================================
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Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
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This file is part of the Immersal SDK.
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The Immersal SDK cannot be copied, distributed, or made available to
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third-parties for commercial purposes without written permission of Immersal Ltd.
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Contact sales@immersal.com for licensing requests.
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===============================================================================*/
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using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using System.Reflection;
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using System.Text.RegularExpressions;
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using Immersal.REST;
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#if UNITY_EDITOR
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using UnityEditor;
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#endif
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using UnityEngine;
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using UnityEngine.Serialization;
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using Object = UnityEngine.Object;
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namespace Immersal.XR
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{
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public class XRMap : MonoBehaviour, ISerializationCallbackReceiver
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{
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// Note: All properties are configured via the custom editor
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// The editor does not render the default inspector view,
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// so none of these will show up without explicitly adding to the editor
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[SerializeField]
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public TextAsset mapFile;
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[SerializeField]
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private int m_MapId = -1;
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[SerializeField]
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private string m_MapName = null;
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public int privacy;
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public MapAlignment mapAlignment;
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public WGS84 wgs84;
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[System.Serializable]
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public struct MetadataFile
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{
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public string error;
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public int id;
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public int type;
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public string created;
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public string version;
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public int user;
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public int creator;
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public string name;
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public int size;
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public string status;
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public int privacy;
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public double latitude;
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public double longitude;
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public double altitude;
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public double tx;
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public double ty;
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public double tz;
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public double qw;
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public double qx;
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public double qy;
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public double qz;
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public double scale;
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public string sha256_al;
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public string sha256_sparse;
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public string sha256_dense;
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public string sha256_tex;
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}
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[System.Serializable]
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public struct MapAlignment
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{
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public double tx;
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public double ty;
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public double tz;
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public double qx;
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public double qy;
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public double qz;
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public double qw;
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public double scale;
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}
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[System.Serializable]
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public struct WGS84
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{
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public double latitude;
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public double longitude;
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public double altitude;
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}
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[SerializeField]
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public bool IsConfigured = false;
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[SerializeField]
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public XRMapVisualization Visualization;
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public int mapId
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{
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get => m_MapId;
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private set => m_MapId = value;
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}
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public string mapName
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{
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get => m_MapName;
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set => m_MapName = value;
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}
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// Localization method
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[SerializeField]
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private Object m_LocalizationMethodObject;
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public ILocalizationMethod LocalizationMethod
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{
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get => m_LocalizationMethodObject as ILocalizationMethod;
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set => m_LocalizationMethodObject = value as Object;
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}
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#region Map options
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/*
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* Map options are custom configurations specific to individual ILocalizationMethods.
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* They are defined in the ILocalizationMethod implementation and registered in MapManager.
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* They require custom serialization via the SerializableMapOption class.
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*/
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[SerializeField]
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private List<SerializableMapOption> m_SerializedMapOptions = new List<SerializableMapOption>();
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public List<IMapOption> MapOptions = new List<IMapOption>();
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#if UNITY_EDITOR
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public void UpdateMapOptions()
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{
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MapOptions = new List<IMapOption>();
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if (MapManager.TryGetMapOptions(LocalizationMethod, out List<IMapOption> options))
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{
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MapOptions = options;
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}
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// force serialization
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SerializeMapOptions();
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}
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#endif
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public void SerializeMapOptions()
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{
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m_SerializedMapOptions.Clear();
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foreach (IMapOption mapOption in MapOptions)
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{
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m_SerializedMapOptions.Add(SerializableMapOption.Serialize(mapOption));
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}
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}
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public void DeserializeMapOptions()
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{
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MapOptions.Clear();
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foreach (SerializableMapOption serializedOption in m_SerializedMapOptions)
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{
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IMapOption option = serializedOption.Deserialize();
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if (option != null)
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{
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MapOptions.Add(option);
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}
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}
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}
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// Unity serialization callbacks
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public void OnBeforeSerialize()
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{
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SerializeMapOptions();
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}
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public void OnAfterDeserialize()
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{
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DeserializeMapOptions();
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}
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private void Awake()
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{
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// Ensure we have deserialized options available at runtime
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DeserializeMapOptions();
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}
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#endregion
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public double[] MapToEcefGet()
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{
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double[] m = mapAlignment.QuaternionsToDoubleMatrix3x3();
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double[] mapToEcef = new double[] {this.mapAlignment.tx, this.mapAlignment.ty, this.mapAlignment.tz, m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8], this.mapAlignment.scale};
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return mapToEcef;
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}
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public void Uninitialize()
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{
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ClearBytesReference();
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if (Visualization != null)
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RemoveVisualization();
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IsConfigured = false;
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}
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public void Configure(SDKMapMetadataGetResult result, bool setIdAndName = true)
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{
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SetMetadata(result, setIdAndName);
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Configure();
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}
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public void Configure(TextAsset mapFile = null)
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{
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if (mapFile != null)
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{
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this.mapFile = mapFile;
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ParseMapFiles();
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}
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IsConfigured = true;
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}
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public void CreateVisualization(XRMapVisualization.RenderMode renderMode = XRMapVisualization.RenderMode.EditorOnly, bool randomColor = false)
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{
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Color c = randomColor ? XRMapVisualization.pointCloudColors[UnityEngine.Random.Range(0, XRMapVisualization.pointCloudColors.Length)]
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: new Color(0.57f, 0.93f, 0.12f);
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CreateVisualization(c, renderMode);
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}
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public void CreateVisualization(Color pointColor, XRMapVisualization.RenderMode renderMode)
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{
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if (Visualization != null)
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{
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RemoveVisualization();
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}
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GameObject go = new GameObject($"{mapId}-{mapName}-vis");
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go.transform.SetParent(transform, false);
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Visualization = go.AddComponent<XRMapVisualization>();
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Visualization.Initialize(this, renderMode, pointColor);
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}
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public void RemoveVisualization()
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{
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Visualization.ClearVisualization();
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DestroyImmediate(Visualization.gameObject);
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Visualization = null;
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}
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private void ClearBytesReference()
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{
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mapFile = null;
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}
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public void ApplyAlignment()
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{
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Vector3 posMetadata = new Vector3((float)mapAlignment.tx, (float)mapAlignment.ty, (float)mapAlignment.tz);
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Quaternion rotMetadata = new Quaternion((float)mapAlignment.qx, (float)mapAlignment.qy, (float)mapAlignment.qz, (float)mapAlignment.qw);
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float scaleMetadata = (float)mapAlignment.scale; // Only uniform scale metadata is supported
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// IMPORTANT
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// Switch coordinate system handedness back from Immersal Cloud Service's default right-handed system to Unity's left-handed system
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Matrix4x4 b = Matrix4x4.TRS(posMetadata, rotMetadata, new Vector3(scaleMetadata, scaleMetadata, scaleMetadata));
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Matrix4x4 a = b.SwitchHandedness();
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Vector3 pos = a.GetColumn(3);
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Quaternion rot = a.rotation;
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Vector3 scl = new Vector3(scaleMetadata, scaleMetadata, scaleMetadata); // Only uniform scale metadata is supported
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// Set XR Map local transform from the converted metadata
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transform.localPosition = pos;
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transform.localRotation = rot;
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transform.localScale = scl;
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}
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public void ParseMapFiles()
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{
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int id = -1;
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if (GetMapId(out id))
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{
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SetIdAndName(id, mapFile.name.Substring(id.ToString().Length + 1), true);
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}
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#if UNITY_EDITOR
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if (Application.isEditor)
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{
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if (mapFile != null)
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{
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try
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{
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string mapFilePath = AssetDatabase.GetAssetPath(mapFile);
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string mapFileDir = Path.GetDirectoryName(mapFilePath);
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string jsonFilePath = Path.Combine(mapFileDir, string.Format("{0}-metadata.json", mapFile.name));
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MetadataFile metadataFile = JsonUtility.FromJson<MetadataFile>(File.ReadAllText(jsonFilePath));
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SetMetadata(metadataFile);
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}
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catch (FileNotFoundException e)
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{
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ImmersalLogger.LogWarning($"{e.Message}\nCould not find {mapFile.name}-metadata.json");
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// set default values in case metadata is not available
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mapAlignment.tx = 0.0;
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mapAlignment.ty = 0.0;
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mapAlignment.tz = 0.0;
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mapAlignment.qx = 0.0;
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mapAlignment.qy = 0.0;
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mapAlignment.qz = 0.0;
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mapAlignment.qw = 1.0;
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mapAlignment.scale = 1.0;
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wgs84.latitude = 0.0;
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wgs84.longitude = 0.0;
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wgs84.altitude = 0.0;
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privacy = 0;
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}
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}
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}
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#endif
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}
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public void SetMetadata(SDKMapMetadataGetResult result, bool setIdAndName = false)
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{
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mapAlignment.tx = result.tx;
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mapAlignment.ty = result.ty;
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mapAlignment.tz = result.tz;
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mapAlignment.qx = result.qx;
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mapAlignment.qy = result.qy;
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mapAlignment.qz = result.qz;
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mapAlignment.qw = result.qw;
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mapAlignment.scale = result.scale;
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wgs84.latitude = result.latitude;
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wgs84.longitude = result.longitude;
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wgs84.altitude = result.altitude;
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privacy = result.privacy;
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if (setIdAndName)
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{
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SetIdAndName(result.id, result.name, true);
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}
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}
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public void SetMetadata(MetadataFile metadataFile, bool setIdAndName = false)
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{
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mapAlignment.tx = metadataFile.tx;
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mapAlignment.ty = metadataFile.ty;
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mapAlignment.tz = metadataFile.tz;
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mapAlignment.qx = metadataFile.qx;
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mapAlignment.qy = metadataFile.qy;
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mapAlignment.qz = metadataFile.qz;
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mapAlignment.qw = metadataFile.qw;
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mapAlignment.scale = metadataFile.scale;
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wgs84.latitude = metadataFile.latitude;
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wgs84.longitude = metadataFile.longitude;
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wgs84.altitude = metadataFile.altitude;
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privacy = metadataFile.privacy;
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if (setIdAndName)
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{
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SetIdAndName(metadataFile.id, metadataFile.name, true);
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}
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}
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public void SetIdAndName(int mapId, string mapName, bool applyToGameObject = false)
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{
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this.mapId = mapId;
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this.mapName = mapName;
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if (applyToGameObject)
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{
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gameObject.name = string.Format("XR Map {0}-{1}", mapId, mapName);
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}
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}
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private bool GetMapId(out int parsedMapId)
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{
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if (mapFile == null)
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{
|
|||
|
|
parsedMapId = -1;
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
string mapFileName = mapFile.name;
|
|||
|
|
Regex rx = new Regex(@"^\d+");
|
|||
|
|
Match match = rx.Match(mapFileName);
|
|||
|
|
if (match.Success)
|
|||
|
|
{
|
|||
|
|
parsedMapId = Int32.Parse(match.Value);
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
{
|
|||
|
|
parsedMapId = -1;
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public bool PreBuildCheck(out string message)
|
|||
|
|
{
|
|||
|
|
message = "";
|
|||
|
|
|
|||
|
|
if (!gameObject.activeInHierarchy || !enabled)
|
|||
|
|
return false;
|
|||
|
|
|
|||
|
|
string logName = mapName;
|
|||
|
|
if (!IsConfigured)
|
|||
|
|
{
|
|||
|
|
ImmersalLogger.LogWarning($"XRMap on object {name} is unconfigured.");
|
|||
|
|
logName = name;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (LocalizationMethod == null)
|
|||
|
|
{
|
|||
|
|
message = $"XRMap {logName} has null LocalizationMethod.";
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|