99.imdk_unity 上传

2025-06-19 10:56:43 +08:00
parent d48c1f1f7b
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System;
+using System.Runtime.InteropServices;
+using System.Threading;
+using UnityEngine;
+
+namespace Immersal.XR
+{
+    public interface ICameraData
+    {
+        IImageData GetImageData();
+        byte[] GetBytes();
+        CameraData Copy(IImageData imageData);
+        public void ReleaseReference();
+        public void CheckReferences();
+        int Width { get; }
+        int Height { get; }
+        int Channels { get; }
+        CameraDataFormat Format { get; }
+        Vector4 Intrinsics { get; } 
+        Vector3 CameraPositionOnCapture { get; }
+        Quaternion CameraRotationOnCapture { get; }
+        double[] Distortion { get; }
+        Quaternion Orientation { get; }
+    }
+    
+    public class CameraData : ICameraData
+    {
+        public int Width { get; set; }
+        public int Height { get; set; }
+        public int Channels { get; set; }
+        public CameraDataFormat Format { get; set; }
+        public Vector4 Intrinsics { get; set; }  // x = principal point x, y = principal point y, z = focal length x, w = focal length y
+        public Vector3 CameraPositionOnCapture { get; set; }
+        public Quaternion CameraRotationOnCapture { get; set; }
+        public double[] Distortion { get; set; } // not yet used
+        public Quaternion Orientation { get; set; }
+        
+        private readonly IImageData m_ImageData;
+        private int m_ReferenceCount;
+        private bool m_IsDisposed;
+
+        public CameraData(IImageData imageData)
+        {
+            m_ImageData = imageData;
+            m_ImageData.SetCameraDataReference(this);
+        }
+        
+        public IImageData GetImageData()
+        {
+            if (m_IsDisposed) throw new ObjectDisposedException("Immersal.XR.CameraData");
+            Interlocked.Increment(ref m_ReferenceCount);
+            return m_ImageData;
+        }
+
+        public byte[] GetBytes()
+        {
+            if (m_IsDisposed) throw new ObjectDisposedException("Immersal.XR.CameraData");
+            return m_ImageData.ManagedBytes;
+        }
+        
+        public void ReleaseReference()
+        {
+            Interlocked.Decrement(ref m_ReferenceCount);
+            CheckReferences();
+        }
+
+        public void CheckReferences()
+        {
+            if (m_ReferenceCount <= 0)
+            {
+                Dispose();
+            }
+        }
+
+        private void Dispose()
+        {
+            if (m_IsDisposed)
+            {
+                ImmersalLogger.LogWarning("Attempting to dispose already disposed CameraData");
+                return;
+            }
+
+            if (m_ImageData != null)
+            {
+                m_ImageData.DisposeData();
+            }
+            else
+            {
+                ImmersalLogger.LogWarning("Attempting to dispose null ImageData");
+            }
+   
+            m_IsDisposed = true;
+        }
+
+        public CameraData Copy(IImageData imageData)
+        {
+            CameraData data = new CameraData(imageData)
+            {
+                Width = this.Width,
+                Height = this.Height,
+                Intrinsics = this.Intrinsics,
+                Format = this.Format,
+                Channels = this.Channels,
+                CameraPositionOnCapture = this.CameraPositionOnCapture,
+                CameraRotationOnCapture = this.CameraRotationOnCapture,
+                Orientation = this.Orientation,
+                Distortion = this.Distortion
+            };
+            return data;
+        }
+    }
+    
+    public interface IImageData : IDisposable
+    {
+        public IntPtr UnmanagedDataPointer { get; }
+        public byte[] ManagedBytes { get; }
+        
+        void SetCameraDataReference(ICameraData cameraData); 
+        void DisposeData();
+    }
+    
+    public abstract class ImageData: IImageData
+    {
+        public abstract IntPtr UnmanagedDataPointer { get; }
+        public abstract byte[] ManagedBytes { get; }
+        
+        public abstract void DisposeData();
+        
+        private ICameraData m_CameraData;
+        private bool m_CameraDataReferenceSet = false;
+
+        public void Dispose()
+        {
+            if (m_CameraData == null)
+            {
+                ImmersalLogger.LogWarning("Disposing ImageData with no CameraData reference.");
+                DisposeData();
+                return;
+            }
+            m_CameraData.ReleaseReference();
+        }
+
+        public void SetCameraDataReference(ICameraData cameraData)
+        {
+            if (m_CameraDataReferenceSet)
+            {
+                ImmersalLogger.LogError("CameraData reference already set.");
+                return;
+            }
+            m_CameraData = cameraData;
+            m_CameraDataReferenceSet = true;
+        }
+    }
+
+    public sealed class SimpleImageData : ImageData
+    {
+        public override IntPtr UnmanagedDataPointer => m_UnmanagedDataPointer;
+        public override byte[] ManagedBytes { get; }
+
+        private IntPtr m_UnmanagedDataPointer;
+        private GCHandle m_managedDataHandle;
+
+        public SimpleImageData(byte[] bytes)
+        {
+            ManagedBytes = bytes;
+            m_managedDataHandle = GCHandle.Alloc(ManagedBytes, GCHandleType.Pinned);
+            m_UnmanagedDataPointer = m_managedDataHandle.AddrOfPinnedObject();
+        }
+
+        public override void DisposeData()
+        {
+            m_managedDataHandle.Free();
+            m_UnmanagedDataPointer = IntPtr.Zero;
+        }
+    }
+
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System.Threading.Tasks;
+
+namespace Immersal.XR
+{
+    public interface IDataProcessingChain<T>
+    {
+        public Task ProcessNewData(T inputData);
+        public Task UpdateChain();
+        public T GetCurrentData();
+        public Task ResetProcessors();
+        public void AddProcessor(IDataProcessor<T> processor);
+        public void RemoveProcessor(IDataProcessor<T> processor);
+    }
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System.Collections;
+using System.Collections.Generic;
+using System.Threading.Tasks;
+using UnityEngine;
+
+public interface IImmersalSession
+{
+    void PauseSession();
+    void ResumeSession();
+    Task ResetSession();
+    Task StopSession(bool cancelRunningTask = true);
+    void StartSession();
+    Task LocalizeOnce();
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System;
+using System.Threading;
+using System.Threading.Tasks;
+using Immersal.REST;
+using UnityEngine;
+
+namespace Immersal.XR
+{
+    public interface ILocalizationResult
+    {
+        bool Success { get; }
+        int MapId { get; }
+        LocalizeInfo LocalizeInfo { get; }
+    }
+
+    public interface ILocalizationMethodConfiguration
+    {
+        XRMap[] MapsToAdd { get; }
+        XRMap[] MapsToRemove { get; }
+        SolverType? SolverType { get; }
+        int? PriorNNCountMin { get; }
+        int? PriorNNCountMax { get; }
+        Vector3? PriorScale { get; }
+        float? PriorRadius { get; }
+    }
+
+    public enum ConfigurationMode
+    {
+        WhenNecessary,
+        Always
+    }
+
+    public interface ILocalizationMethod : IHasNullOrDeadCheck
+    {
+        ConfigurationMode ConfigurationMode { get; }
+        IMapOption[] MapOptions { get; }
+        Task<bool> Configure(ILocalizationMethodConfiguration configuration);
+        Task<ILocalizationResult> Localize(ICameraData cameraData, CancellationToken cancellationToken);
+        Task StopAndCleanUp();
+        Task OnMapRegistered(XRMap map);
+    }
+    
+    // Utility interface and extension method for checking if an interface is null.
+    // Directly comparing an interface to null sidesteps the custom null-checks used with Unity objects.
+    // This means the interface reference might not be null in the C# sense, even if the object it is
+    // referencing has been destroyed in the Unity context.
+    // This is only an issue if the class implementing the interface is inheriting from Unity objects.
+    public interface IHasNullOrDeadCheck {}
+
+    public static class NullOrDeadCheckExtension
+    {
+        public static bool IsNullOrDead(this IHasNullOrDeadCheck obj)
+        {
+            // Casting to UnityEngine.Object will force the check to utilize Unity's custom null-checking
+            if (obj is UnityEngine.Object o)
+                return o == null;
+            return obj == null;
+        }
+    }
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System;
+using System.Collections.Generic;
+using System.Threading;
+using System.Threading.Tasks;
+using Immersal.REST;
+
+namespace Immersal.XR
+{
+    public interface ILocalizationResults
+    {
+        ILocalizationResult[] Results { get; }
+    }
+
+    public interface ILocalizerConfiguration
+    {
+        Dictionary<ILocalizationMethod, XRMap[]> ConfigurationsToAdd { get; }
+        Dictionary<ILocalizationMethod, XRMap[]> ConfigurationsToRemove { get; }
+        bool StopRunningTasks { get; }
+    }
+
+    public interface ILocalizerConfigurationResult
+    {
+        bool Success { get; set; }
+    }
+
+    public interface ILocalizer
+    {
+        ILocalizationMethod[] AvailableLocalizationMethods { get;  }
+        Task<ILocalizerConfigurationResult> ConfigureLocalizer(ILocalizerConfiguration configuration);
+        Task<ILocalizationResults> Localize(ICameraData cameraData);
+        Task<List<LocalizationTask>> CreateLocalizationTasks(ICameraData cameraData);
+        Task<ILocalizationResults> LocalizeAllMethods(ICameraData cameraData);
+        Task StopAndCleanUp();
+        Task StopLocalizationForMethod(ILocalizationMethod localizationMethod);
+        bool TryGetLocalizationTask(ILocalizationMethod localizationMethod, out LocalizationTask task);
+    }
+    
+    public class LocalizationTask
+    {
+        public Task<ILocalizationResult> LocalizationMethodTask { get; private set; }
+        public CancellationTokenSource CancellationTokenSource { get; private set; }
+
+        public LocalizationTask(Task<ILocalizationResult> task, CancellationTokenSource cancellationTokenSource)
+        {
+            LocalizationMethodTask = task;
+            CancellationTokenSource = cancellationTokenSource;
+        }
+    }
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System;
+using UnityEditor;
+using UnityEngine;
+
+namespace Immersal.XR
+{
+    public interface IMapOption
+    {
+        string Name { get; }
+        void DrawEditorGUI(XRMap map);
+    }
+    
+    // Example IMapOption implementation
+    [Serializable]
+    public class IntOption : IMapOption
+    {
+        public string Name { get; private set; }
+
+        [SerializeField]
+        public int Value;
+
+        public IntOption(string name, int initialValue)
+        {
+            Name = name;
+            Value = initialValue;
+        }
+
+        public void DrawEditorGUI(XRMap map)
+        {
+#if UNITY_EDITOR
+            Value = EditorGUILayout.IntField(Name, Value);
+#endif
+        }
+    }
+    
+    [Serializable]
+    public class SerializableMapOption
+    {
+        public string TypeName;
+        public string Data;
+
+        // Serialize an IMapOption instance
+        public static SerializableMapOption Serialize(IMapOption option)
+        {
+            var serializableOption = new SerializableMapOption
+            {
+                TypeName = option.GetType().AssemblyQualifiedName,
+                Data = JsonUtility.ToJson(option)
+            };
+            return serializableOption;
+        }
+
+        // Deserialize into an IMapOption instance
+        public IMapOption Deserialize()
+        {
+            var type = Type.GetType(TypeName);
+            if (type != null)
+            {
+                return (IMapOption)JsonUtility.FromJson(Data, type);
+            }
+            return null;
+        }
+    }
+}
+
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System;
+using System.Threading.Tasks;
+using UnityEngine;
+
+namespace Immersal.XR
+{
+    public interface IPlatformUpdateResult
+    {
+        bool Success { get; }
+        IPlatformStatus Status { get; }
+        ICameraData CameraData { get; }
+    }
+    
+    public interface IPlatformStatus
+    {
+        int TrackingQuality { get; }
+    }
+    
+    public enum CameraDataFormat
+    {
+        SingleChannel,
+        RGB
+    }
+
+    public interface IPlatformConfigureResult
+    {
+        bool Success { get; }
+    }
+    
+    public interface IPlatformSupport
+    {
+        Task<IPlatformUpdateResult> UpdatePlatform();
+        Task<IPlatformUpdateResult> UpdatePlatform(IPlatformConfiguration oneShotConfiguration);
+        Task<IPlatformConfigureResult> ConfigurePlatform();
+        Task<IPlatformConfigureResult> ConfigurePlatform(IPlatformConfiguration configuration);
+        Task StopAndCleanUp();
+    }
+
+    public interface IPlatformConfiguration
+    {
+        CameraDataFormat CameraDataFormat { get; }
+    }
+    
+    #region Simple implementations
+    
+    public struct SimplePlatformConfigureResult : IPlatformConfigureResult
+    {
+        public bool Success { get; set; }
+    }
+    
+    public struct SimplePlatformUpdateResult : IPlatformUpdateResult
+    {
+        public bool Success { get; set; }
+        public IPlatformStatus Status { get; set; }
+        public ICameraData CameraData { get; set; }
+    }
+
+    public struct SimplePlatformStatus : IPlatformStatus
+    {
+        public int TrackingQuality { get; set; }
+    }
+
+    public struct PlatformConfiguration : IPlatformConfiguration
+    {
+        public CameraDataFormat CameraDataFormat { get; set; }
+    }
+
+    #endregion
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sdk@immersal.com for licensing requests.
+===============================================================================*/
+
+using System.Threading.Tasks;
+using UnityEngine;
+
+namespace Immersal.XR
+{
+    public interface ISceneUpdateable
+    {
+        Task SceneUpdate(SceneUpdateData data);
+        Transform GetTransform();
+        Task ResetScene();
+    }
+
+    public static class SceneUpdateableExtensions
+    {
+        public static Matrix4x4 ToMapSpace(this ISceneUpdateable sceneUpdateable, Vector3 pos, Quaternion rot)
+        {
+            Transform spaceTransform = sceneUpdateable.GetTransform();
+            Matrix4x4 pose = Matrix4x4.TRS(pos, rot, Vector3.one);
+            Matrix4x4 spacePose = Matrix4x4.TRS(spaceTransform.position, spaceTransform.rotation, Vector3.one);
+            return spacePose.inverse * pose;
+        }
+    }
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+using System.Threading.Tasks;
+
+namespace Immersal.XR
+{
+    public interface ISceneUpdater
+    {
+        Task UpdateScene(MapEntry entry, ICameraData cameraData, ILocalizationResult localizationResult);
+    }
+}
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+/*===============================================================================
+Copyright (C) 2024 Immersal - Part of Hexagon. All Rights Reserved.
+
+This file is part of the Immersal SDK.
+
+The Immersal SDK cannot be copied, distributed, or made available to
+third-parties for commercial purposes without written permission of Immersal Ltd.
+
+Contact sales@immersal.com for licensing requests.
+===============================================================================*/
+
+namespace Immersal.XR
+{
+    public interface ITrackingStatus
+    {
+        int LocalizationAttemptCount { get; }
+        int LocalizationSuccessCount { get; }
+        int TrackingQuality { get; }
+    }
+    
+    public interface ITrackingAnalyzer
+    {
+        ITrackingStatus TrackingStatus { get; }
+        void Analyze(IPlatformStatus platformStatus, ILocalizationResults localizationResults);
+        void Reset();
+    }
+}
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