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Assets/ImmersalSDK/Samples/Scenes/MappingApp.unity

@@ -2525,13 +2525,12 @@ MonoBehaviour:
   m_AutoStart: 1
   localizationInterval: 2
   m_UseFiltering: 1
-  m_ResetOnMapChange: 0
+  m_ResetOnMapChange: 1
   m_BurstMode: 1
-  m_UseGeoPoseLocalizer: 1
-  m_UseServerLocalizer: 1
+  m_UseGeoPoseLocalizer: 0
+  m_UseServerLocalizer: 0
   m_MapIds: []
   m_UseYUV: 0
-  rawimg: {fileID: 1044916812}
 --- !u!1 &1503953926
 GameObject:
   m_ObjectHideFlags: 0
@@ -3239,7 +3238,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!114 &2014494403
 MonoBehaviour:
   m_ObjectHideFlags: 0

Assets/NRLocalizer.cs

@@ -1,26 +1,22 @@
-/*===============================================================================
-Copyright (C) 2020 Immersal Ltd. All Rights Reserved.
+using Immersal.REST;
+using NRKernal;
+using System;
+using System.Threading.Tasks;
+using Unity.Collections.LowLevel.Unsafe;
+using UnityEngine;
 
-This file is part of the Immersal SDK.
 
+/*===============================================================================
+Copyright (C) 2022 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 UnityEngine;
-using System;
-using System.Runtime.InteropServices;
-using System.Threading.Tasks;
-using NRKernal;
-using Immersal.REST;
-using Unity.Collections.LowLevel.Unsafe;
-using UnityEngine.UI;
-
 namespace Immersal.AR.Nreal
 {
-    public class NRLocalizer : LocalizerBase
+	public class NRLocalizer : LocalizerBase
 	{
 		[Tooltip("Disable if you want to use RGB video capture while localizing. Also disable Multithreaded Rendering.")]
 		[SerializeField]
@@ -28,7 +24,7 @@ namespace Immersal.AR.Nreal
 
 		private static NRLocalizer instance = null;
 
-        private CameraModelView CamTexture { get; set; }
+		private CameraModelView CamTexture { get; set; }
 
 		public static NRLocalizer Instance
 		{
@@ -62,16 +58,15 @@ namespace Immersal.AR.Nreal
 			}
 		}
 
-        public override void Start()
-        {
+		public override void Start()
+		{
 			base.Start();
-			
-            m_Sdk.RegisterLocalizer(instance);
+			m_Sdk.RegisterLocalizer(instance);
 
 			if (m_UseYUV)
 			{
 				CamTexture = new NRRGBCamTextureYUV();
-				(CamTexture as NRRGBCamTextureYUV).OnUpdate += OnYUVCaptureUpdate; 
+				(CamTexture as NRRGBCamTextureYUV).OnUpdate += OnYUVCaptureUpdate;
 			}
 			else
 			{
@@ -81,15 +76,15 @@ namespace Immersal.AR.Nreal
 
 			if (autoStart)
 			{
-	            CamTexture.Play();
+				CamTexture.Play();
 			}
-        }
+		}
 
-        public override void StartLocalizing()
-        {
-            CamTexture.Play();
-            base.StartLocalizing();
-        }
+		public override void StartLocalizing()
+		{
+			CamTexture.Play();
+			base.StartLocalizing();
+		}
 
 		public override void StopLocalizing()
 		{
@@ -97,22 +92,22 @@ namespace Immersal.AR.Nreal
 			CamTexture.Stop();
 		}
 
-        public override void Pause()
-        {
-            base.Pause();
+		public override void Pause()
+		{
+			base.Pause();
 			CamTexture.Pause();
-        }
+		}
 
 		protected override void Update()
 		{
-            isTracking = NRFrame.SessionStatus == SessionState.Running;
+			isTracking = NRFrame.SessionStatus == SessionState.Running;
 
-            base.Update();
+			base.Update();
 		}
 
-        public override void OnDestroy()
-        {
-            CamTexture.Stop();
+		public override void OnDestroy()
+		{
+			CamTexture.Stop();
 
 			if (m_UseYUV)
 			{
@@ -124,14 +119,14 @@ namespace Immersal.AR.Nreal
 			}
 
 			base.OnDestroy();
-        }
+		}
 
-        public override async void Localize()
+		public override async void Localize()
 		{
 			while (!CamTexture.DidUpdateThisFrame)
- 			{
-				 await Task.Yield();
- 			}
+			{
+				await Task.Yield();
+			}
 
 			if (m_PixelBuffer != IntPtr.Zero)
 			{
@@ -174,12 +169,16 @@ namespace Immersal.AR.Nreal
 						{
 							Reset();
 						}
-						
+
 						lastLocalizedMapId = mapId;
 						OnMapChanged?.Invoke(mapId);
 					}
-				
-					rot *= Quaternion.Euler(0f, 0f, -90.0f);
+
+					rot *= Quaternion.Euler(0f, 0f, 180.0f);
+					pos = ARHelper.SwitchHandedness(pos);
+					rot = ARHelper.SwitchHandedness(rot);
+
+
 					MapOffset mo = ARSpace.mapIdToOffset[mapId];
 
 					Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
@@ -213,12 +212,12 @@ namespace Immersal.AR.Nreal
 			base.Localize();
 		}
 
-        public override async void LocalizeServer(SDKMapId[] mapIds)
-        {
+		public override async void LocalizeServer(SDKMapId[] mapIds)
+		{
 			while (!CamTexture.DidUpdateThisFrame)
- 			{
-				 await Task.Yield();
- 			}
+			{
+				await Task.Yield();
+			}
 
 			if (m_PixelBuffer != IntPtr.Zero)
 			{
@@ -275,22 +274,25 @@ namespace Immersal.AR.Nreal
 								{
 									Reset();
 								}
-								
+
 								lastLocalizedMapId = mapId;
 								OnMapChanged?.Invoke(mapId);
 							}
 
 							MapOffset mo = ARSpace.mapIdToOffset[mapId];
 							stats.localizationSuccessCount++;
-							
+
 							Matrix4x4 responseMatrix = Matrix4x4.identity;
 							responseMatrix.m00 = result.r00; responseMatrix.m01 = result.r01; responseMatrix.m02 = result.r02; responseMatrix.m03 = result.px;
 							responseMatrix.m10 = result.r10; responseMatrix.m11 = result.r11; responseMatrix.m12 = result.r12; responseMatrix.m13 = result.py;
 							responseMatrix.m20 = result.r20; responseMatrix.m21 = result.r21; responseMatrix.m22 = result.r22; responseMatrix.m23 = result.pz;
 
-							Vector3 pos  = responseMatrix.GetColumn(3);
+							Vector3 pos = responseMatrix.GetColumn(3);
 							Quaternion rot = responseMatrix.rotation;
-							rot *= Quaternion.Euler(0f, 0f, -90f);
+
+							rot *= Quaternion.Euler(0f, 0f, 180.0f);
+							pos = ARHelper.SwitchHandedness(pos);
+							rot = ARHelper.SwitchHandedness(rot);
 
 							Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
 							Vector3 scaledPos = Vector3.Scale(pos, mo.scale);
@@ -324,14 +326,14 @@ namespace Immersal.AR.Nreal
 			}
 
 			base.LocalizeServer(mapIds);
-        }
+		}
 
-        public override async void LocalizeGeoPose(SDKMapId[] mapIds)
-        {
+		public override async void LocalizeGeoPose(SDKMapId[] mapIds)
+		{
 			while (!CamTexture.DidUpdateThisFrame)
- 			{
-				 await Task.Yield();
- 			}
+			{
+				await Task.Yield();
+			}
 
 			if (m_PixelBuffer != IntPtr.Zero)
 			{
@@ -386,45 +388,37 @@ namespace Immersal.AR.Nreal
 						double[] ecef = new double[3];
 						double[] wgs84 = new double[3] { latitude, longitude, ellipsoidHeight };
 						Core.PosWgs84ToEcef(ecef, wgs84);
-						Debug.Log("*************************** GeoPose Localization PosWgs84ToEcef ***************************");
-
-						if (ARSpace.mapIdToMap.ContainsKey(mapId) && rot != Quaternion.identity&& rot.eulerAngles!=Vector3.zero)
+						if (ARSpace.mapIdToMap.ContainsKey(mapId))
 						{
 							ARMap map = ARSpace.mapIdToMap[mapId];
-
 							if (mapId != lastLocalizedMapId)
 							{
 								if (resetOnMapChange)
 								{
 									Reset();
 								}
-								
 								lastLocalizedMapId = mapId;
 								OnMapChanged?.Invoke(mapId);
 							}
 
 							MapOffset mo = ARSpace.mapIdToOffset[mapId];
 							stats.localizationSuccessCount++;
-
 							double[] mapToEcef = map.MapToEcefGet();
 							Vector3 mapPos;
 							Quaternion mapRot;
-							Debug.Log("*************************** GeoPose Localization PosEcefToMap ***************************");
 							Core.PosEcefToMap(out mapPos, ecef, mapToEcef);
-							Debug.Log("*************************** GeoPose Localization RotEcefToMap ***************************");
 							Core.RotEcefToMap(out mapRot, rot, mapToEcef);
 
 							Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
 							Vector3 scaledPos = Vector3.Scale(mapPos, mo.scale);
 							Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, mapRot, Vector3.one);
 							Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
-							Matrix4x4 m = trackerSpace*(cloudSpace.inverse);
-							
+							Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
+
 							if (useFiltering)
 								mo.space.filter.RefinePose(m);
 							else
 								ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
-
 							LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, cloudSpace.GetColumn(3), cloudSpace.rotation, m.inverse, mapToEcef);
 							map.NotifySuccessfulLocalization(mapId);
 							OnPoseFound?.Invoke(lastLocalizedPose);
@@ -445,11 +439,10 @@ namespace Immersal.AR.Nreal
 			}
 
 			base.LocalizeGeoPose(mapIds);
-        }
-		public RawImage rawimg;
-        private void OnRGBCaptureUpdate(CameraTextureFrame frame)
-        {
-			rawimg.texture = (Texture2D)frame.texture;
+		}
+
+		private void OnRGBCaptureUpdate(CameraTextureFrame frame)
+		{
 			byte[] pixels = GetYBufFromTexture((Texture2D)frame.texture);
 
 			unsafe
@@ -459,10 +452,10 @@ namespace Immersal.AR.Nreal
 				m_PixelBuffer = (IntPtr)ptr;
 				UnsafeUtility.ReleaseGCObject(handle);
 			}
-        }
+		}
 
-        private void OnYUVCaptureUpdate(NRRGBCamTextureYUV.YUVTextureFrame frame)
-        {
+		private void OnYUVCaptureUpdate(NRRGBCamTextureYUV.YUVTextureFrame frame)
+		{
 			if (m_PixelBuffer == IntPtr.Zero)
 			{
 				unsafe
@@ -473,7 +466,7 @@ namespace Immersal.AR.Nreal
 					UnsafeUtility.ReleaseGCObject(handle);
 				}
 			}
-        }
+		}
 
 		private byte[] GetYBufFromTexture(Texture2D tex)
 		{
@@ -488,14 +481,14 @@ namespace Immersal.AR.Nreal
 			return pixels;
 		}
 
-        private void GetIntrinsics(out Vector4 intrinsics)
-        {
-            intrinsics = Vector4.zero;
+		private void GetIntrinsics(out Vector4 intrinsics)
+		{
+			intrinsics = Vector4.zero;
 			NativeMat3f m = NRFrame.GetRGBCameraIntrinsicMatrix();
 			intrinsics.x = m.column0.X;
 			intrinsics.y = m.column1.Y;
 			intrinsics.z = m.column2.X;
 			intrinsics.w = m.column2.Y;
-        }
+		}
 	}
-}
+}

Assets/Plugins/IngameDebugConsole/Android/IngameDebugConsole.aar.meta

@@ -1,33 +1,32 @@
 fileFormatVersion: 2
-guid: bf909fab1c14af446b0a854de42289b2
-timeCreated: 1510086220
-licenseType: Store
+guid: d19d80104c952da46841dab0a11c3d2c
 PluginImporter:
+  externalObjects: {}
   serializedVersion: 2
   iconMap: {}
   executionOrder: {}
+  defineConstraints: []
   isPreloaded: 0
   isOverridable: 0
+  isExplicitlyReferenced: 0
+  validateReferences: 1
   platformData:
-    data:
-      first:
-        Android: Android
-      second:
-        enabled: 1
-        settings: {}
-    data:
-      first:
-        Any: 
-      second:
-        enabled: 0
-        settings: {}
-    data:
-      first:
-        Editor: Editor
-      second:
-        enabled: 0
-        settings:
-          DefaultValueInitialized: true
+  - first:
+      Android: Android
+    second:
+      enabled: 1
+      settings: {}
+  - first:
+      Any: 
+    second:
+      enabled: 0
+      settings: {}
+  - first:
+      Editor: Editor
+    second:
+      enabled: 0
+      settings:
+        DefaultValueInitialized: true
   userData: 
   assetBundleName: 
   assetBundleVariant: 

Assets/Plugins/IngameDebugConsole/Scripts/CircularBuffer.cs.meta

@@ -1,8 +1,7 @@
 fileFormatVersion: 2
-guid: 6136cb3c00eac0149901b8e7f2fecef8
-timeCreated: 1550943949
-licenseType: Store
+guid: bd4e95f3aca8ce943a3264789b64332b
 MonoImporter:
+  externalObjects: {}
   serializedVersion: 2
   defaultReferences: []
   executionOrder: 0