增加适配NReal 识别地图 目前摄像头方向有问题

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Assets/ImmersalSDK/Core/Scripts/AR/ARLocalizer.cs

@@ -346,6 +346,7 @@ namespace Immersal.AR
  
         public override async void Localize()
 		{
+			Debug.Log("Localize===>start");
 #if PLATFORM_LUMIN && UNITY_2020_1
 			XRCameraImage image;
 #else
@@ -354,12 +355,14 @@ namespace Immersal.AR
 			ARCameraManager cameraManager = m_Sdk.cameraManager;
 			var cameraSubsystem = cameraManager.subsystem;
 
+			Debug.Log("Localize===>cameraSubsystem");
 #if PLATFORM_LUMIN && UNITY_2020_1
 			if (cameraSubsystem != null && cameraSubsystem.TryGetLatestImage(out image))
 #else
 			if (cameraSubsystem != null && cameraSubsystem.TryAcquireLatestCpuImage(out image))
 #endif
 			{
+				Debug.Log("Localize===>cameraSubsystem TryAcquireLatestCpuImage");
 				stats.localizationAttemptCount++;
 				Vector4 intrinsics;
 				Vector3 camPos = m_Cam.transform.position;

Assets/ImmersalSDK/Core/Scripts/AR/ARSpace.cs

@@ -250,6 +250,7 @@ namespace Immersal.AR
             {
                 Transform tr = spaceToTransform[space];
         		tr.SetPositionAndRotation(pos, rot);
+                //tr.eulerAngles = new Vector3(tr.eulerAngles.x-90,tr.eulerAngles.y,tr.eulerAngles.z);
             }
 		}
     }

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Assets/ImmersalSDK/Samples/Scripts/Mapping/Mapper.cs

@@ -189,8 +189,10 @@ namespace Immersal.Samples.Mapping
 
         public void TryLocalize()
         {
+            Debug.Log("TryLocalize===>start");
             if (mapperSettings.useServerLocalizer)
             {
+                Debug.Log("TryLocalize===>useServerLocalizer");
                 int n = ARSpace.mapIdToMap.Count;
                 SDKMapId[] mapIds = new SDKMapId[n];
 
@@ -203,15 +205,18 @@ namespace Immersal.Samples.Mapping
 
                 if (m_UseGeoPose)
                 {
+                    Debug.Log("TryLocalize===>m_UseGeoPose");
                     m_Sdk.Localizer.LocalizeGeoPose(mapIds);
                 }
                 else
                 {
+                    Debug.Log("TryLocalize===>!m_UseGeoPose");
                     m_Sdk.Localizer.LocalizeServer(mapIds);
                 }
             }
             else
             {
+                Debug.Log("TryLocalize===>!useServerLocalizer");
                 m_Sdk.Localizer.Localize();
             }
         }

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   externalObjects: {}
   userData: 

Assets/Map Data/18500-A-metadata.json.meta → Assets/Map Data/74803-Test.bytes.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 38e9e10cd61ccc5459b85a93f680997d
+guid: b4d77eac01e586449aa2cd2bc4d12cc7
 TextScriptImporter:
   externalObjects: {}
   userData: 

Assets/Map Data/74806-testandroid-metadata.json

@@ -0,0 +1,29 @@
+{
+  "error": "none",
+  "id": 74806,
+  "type": 0,
+  "created": "2023-03-01 01:27:08",
+  "version": "1.18.1",
+  "user": 8056,
+  "creator": 8056,
+  "name": "testandroid",
+  "size": 58,
+  "status": "done",
+  "errno": 0,
+  "privacy": 0,
+  "latitude": 31.216316419355728,
+  "longitude": 121.62990417424533,
+  "altitude": 0,
+  "tx": -2863179.9420500263,
+  "ty": 4648595.250647443,
+  "tz": 3286427.939745442,
+  "qw": 0.3948647708710266,
+  "qx": -0.7011245901006972,
+  "qy": -0.5804696831044236,
+  "qz": -0.1247440133944347,
+  "scale": 2.286598709206135,
+  "sha256_al": "302f46de532fb0f6820429ffb64350aa1d5cb809843ecb437208c2c970353da3",
+  "sha256_sparse": "0778b65282ccd1e2cf5237aef3567473a6e95c52549ac78587f6661fabf13510",
+  "sha256_dense": "814dbcb86346b60efb61d3c06fab9749b9999d7f44fc521160dc4299c7f250a6",
+  "sha256_tex": "e8bed3222b60290fc572f17ba778b50fde69f925224d2780ecaa3fd44c521dbd"
+}

Assets/Map Data/18500-A.bytes.meta → Assets/Map Data/74806-testandroid-metadata.json.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: d6546401f93b7d64cb9243ae31914b30
+guid: 3748e38b47c5a6f4781231f01701a708
 TextScriptImporter:
   externalObjects: {}
   userData: 

Assets/Editor/Vuforia.meta → Assets/Map Data/74806-testandroid-tex.glb.meta

@@ -1,6 +1,5 @@
 fileFormatVersion: 2
-guid: fce97b4e0caf099458656a65194de544
-folderAsset: yes
+guid: 76cdd2f864b081e4198a98eb4666a0b9
 DefaultImporter:
   externalObjects: {}
   userData: 

Assets/Map Data/18501-B-metadata.json.meta → Assets/Map Data/74806-testandroid.bytes.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: ab3d51d760056a04ca88c4d46884a6ee
+guid: 8ee243f3290ede74ca608a139e402c18
 TextScriptImporter:
   externalObjects: {}
   userData: 

Assets/NRLocalizer.cs

@@ -0,0 +1,501 @@
+/*===============================================================================
+Copyright (C) 2020 Immersal Ltd. 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
+	{
+		[Tooltip("Disable if you want to use RGB video capture while localizing. Also disable Multithreaded Rendering.")]
+		[SerializeField]
+		private bool m_UseYUV;
+
+		private static NRLocalizer instance = null;
+
+        private CameraModelView CamTexture { get; set; }
+
+		public static NRLocalizer Instance
+		{
+			get
+			{
+#if UNITY_EDITOR
+				if (instance == null && !Application.isPlaying)
+				{
+					instance = UnityEngine.Object.FindObjectOfType<NRLocalizer>();
+				}
+#endif
+				if (instance == null)
+				{
+					Debug.LogError("No NRLocalizer instance found. Ensure one exists in the scene.");
+				}
+				return instance;
+			}
+		}
+
+		void Awake()
+		{
+			if (instance == null)
+			{
+				instance = this;
+			}
+			if (instance != this)
+			{
+				Debug.LogError("There must be only one NRLocalizer object in a scene.");
+				UnityEngine.Object.DestroyImmediate(this);
+				return;
+			}
+		}
+
+        public override void Start()
+        {
+			base.Start();
+			
+            m_Sdk.RegisterLocalizer(instance);
+
+			if (m_UseYUV)
+			{
+				CamTexture = new NRRGBCamTextureYUV();
+				(CamTexture as NRRGBCamTextureYUV).OnUpdate += OnYUVCaptureUpdate; 
+			}
+			else
+			{
+				CamTexture = new NRRGBCamTexture();
+				(CamTexture as NRRGBCamTexture).OnUpdate += OnRGBCaptureUpdate;
+			}
+
+			if (autoStart)
+			{
+	            CamTexture.Play();
+			}
+        }
+
+        public override void StartLocalizing()
+        {
+            CamTexture.Play();
+            base.StartLocalizing();
+        }
+
+		public override void StopLocalizing()
+		{
+			base.StopLocalizing();
+			CamTexture.Stop();
+		}
+
+        public override void Pause()
+        {
+            base.Pause();
+			CamTexture.Pause();
+        }
+
+		protected override void Update()
+		{
+            isTracking = NRFrame.SessionStatus == SessionState.Running;
+
+            base.Update();
+		}
+
+        public override void OnDestroy()
+        {
+            CamTexture.Stop();
+
+			if (m_UseYUV)
+			{
+				(CamTexture as NRRGBCamTextureYUV).OnUpdate -= OnYUVCaptureUpdate;
+			}
+			else
+			{
+				(CamTexture as NRRGBCamTexture).OnUpdate -= OnRGBCaptureUpdate;
+			}
+
+			base.OnDestroy();
+        }
+
+        public override async void Localize()
+		{
+			while (!CamTexture.DidUpdateThisFrame)
+ 			{
+				 await Task.Yield();
+ 			}
+
+			if (m_PixelBuffer != IntPtr.Zero)
+			{
+				stats.localizationAttemptCount++;
+
+				Vector4 intrinsics;
+				Pose headPose = NRFrame.HeadPose;
+				Pose rgbCameraFromEyePose = NRFrame.EyePoseFromHead.RGBEyePose;
+				Vector3 camPos = headPose.position + rgbCameraFromEyePose.position;
+				Quaternion camRot = headPose.rotation * rgbCameraFromEyePose.rotation;
+				int width = CamTexture.Width;
+				int height = CamTexture.Height;
+				Vector3 pos = Vector3.zero;
+				Quaternion rot = Quaternion.identity;
+				GetIntrinsics(out intrinsics);
+
+				float startTime = Time.realtimeSinceStartup;
+
+				Task<int> t = Task.Run(() =>
+				{
+					return Immersal.Core.LocalizeImage(out pos, out rot, width, height, ref intrinsics, m_PixelBuffer);
+				});
+
+				await t;
+
+				int mapHandle = t.Result;
+				int mapId = ARMap.MapHandleToId(mapHandle);
+				float elapsedTime = Time.realtimeSinceStartup - startTime;
+
+				if (mapId > 0 && ARSpace.mapIdToMap.ContainsKey(mapId))
+				{
+					Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
+					stats.localizationSuccessCount++;
+
+					ARMap map = ARSpace.mapIdToMap[mapId];
+
+					if (mapId != lastLocalizedMapId)
+					{
+						if (resetOnMapChange)
+						{
+							Reset();
+						}
+						
+						lastLocalizedMapId = mapId;
+						OnMapChanged?.Invoke(mapId);
+					}
+				
+					rot *= Quaternion.Euler(0f, 0f, -90.0f);
+					MapOffset mo = ARSpace.mapIdToOffset[mapId];
+
+					Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
+					Vector3 scaledPos = Vector3.Scale(pos, mo.scale);
+					Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
+					Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
+					Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
+
+					if (useFiltering)
+						mo.space.filter.RefinePose(m);
+					else
+						ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
+
+					Vector3 p = m.GetColumn(3);
+					Vector3 euler = m.rotation.eulerAngles;
+
+					GetLocalizerPose(out lastLocalizedPose, mapId, pos, rot, m.inverse);
+					map.NotifySuccessfulLocalization(mapId);
+					OnPoseFound?.Invoke(lastLocalizedPose);
+				}
+				else
+				{
+					Debug.Log(string.Format("Localization attempt failed after {0} seconds", elapsedTime));
+				}
+			}
+			else
+			{
+				Debug.LogError("No camera pixel buffer");
+			}
+
+			base.Localize();
+		}
+
+        public override async void LocalizeServer(SDKMapId[] mapIds)
+        {
+			while (!CamTexture.DidUpdateThisFrame)
+ 			{
+				 await Task.Yield();
+ 			}
+
+			if (m_PixelBuffer != IntPtr.Zero)
+			{
+				stats.localizationAttemptCount++;
+
+				JobLocalizeServerAsync j = new JobLocalizeServerAsync();
+
+				Vector4 intrinsics;
+				Pose headPose = NRFrame.HeadPose;
+				Pose rgbCameraFromEyePose = NRFrame.EyePoseFromHead.RGBEyePose;
+				Vector3 camPos = headPose.position + rgbCameraFromEyePose.position;
+				Quaternion camRot = headPose.rotation * rgbCameraFromEyePose.rotation;
+				int channels = 1;
+				int width = CamTexture.Width;
+				int height = CamTexture.Height;
+				byte[] pixels = m_UseYUV ? (CamTexture as NRRGBCamTextureYUV).GetTexture().YBuf : GetYBufFromTexture((CamTexture as NRRGBCamTexture).GetTexture());
+
+				GetIntrinsics(out intrinsics);
+
+				float startTime = Time.realtimeSinceStartup;
+
+				Task<(byte[], icvCaptureInfo)> t = Task.Run(() =>
+				{
+					byte[] capture = new byte[channels * width * height + 8192];
+					icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
+					Array.Resize(ref capture, info.captureSize);
+					return (capture, info);
+				});
+
+				await t;
+
+				j.image = t.Result.Item1;
+				j.intrinsics = intrinsics;
+				j.mapIds = mapIds;
+
+				j.OnResult += (SDKLocalizeResult result) =>
+				{
+					float elapsedTime = Time.realtimeSinceStartup - startTime;
+
+					if (result.success)
+					{
+						Debug.Log("*************************** On-Server Localization Succeeded ***************************");
+						Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
+
+						int mapId = result.map;
+
+						if (mapId > 0 && 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++;
+							
+							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);
+							Quaternion rot = responseMatrix.rotation;
+							rot *= Quaternion.Euler(0f, 0f, -90f);
+
+							Matrix4x4 offsetNoScale = Matrix4x4.TRS(mo.position, mo.rotation, Vector3.one);
+							Vector3 scaledPos = Vector3.Scale(pos, mo.scale);
+							Matrix4x4 cloudSpace = offsetNoScale * Matrix4x4.TRS(scaledPos, rot, Vector3.one);
+							Matrix4x4 trackerSpace = Matrix4x4.TRS(camPos, camRot, Vector3.one);
+							Matrix4x4 m = trackerSpace * (cloudSpace.inverse);
+
+							if (useFiltering)
+								mo.space.filter.RefinePose(m);
+							else
+								ARSpace.UpdateSpace(mo.space, m.GetColumn(3), m.rotation);
+
+							double[] ecef = map.MapToEcefGet();
+							LocalizerBase.GetLocalizerPose(out lastLocalizedPose, mapId, pos, rot, m.inverse, ecef);
+							map.NotifySuccessfulLocalization(mapId);
+							OnPoseFound?.Invoke(lastLocalizedPose);
+						}
+					}
+					else
+					{
+						Debug.Log("*************************** On-Server Localization Failed ***************************");
+						Debug.Log(string.Format("Localization attempt failed after {0} seconds", elapsedTime));
+					}
+				};
+
+				await j.RunJobAsync();
+			}
+			else
+			{
+				Debug.LogError("No camera pixel buffer");
+			}
+
+			base.LocalizeServer(mapIds);
+        }
+
+        public override async void LocalizeGeoPose(SDKMapId[] mapIds)
+        {
+			while (!CamTexture.DidUpdateThisFrame)
+ 			{
+				 await Task.Yield();
+ 			}
+
+			if (m_PixelBuffer != IntPtr.Zero)
+			{
+				stats.localizationAttemptCount++;
+
+				JobGeoPoseAsync j = new JobGeoPoseAsync();
+
+				Vector4 intrinsics;
+				Pose headPose = NRFrame.HeadPose;
+				Pose rgbCameraFromEyePose = NRFrame.EyePoseFromHead.RGBEyePose;
+				Vector3 camPos = headPose.position + rgbCameraFromEyePose.position;
+				Quaternion camRot = headPose.rotation * rgbCameraFromEyePose.rotation;
+				int channels = 1;
+				int width = CamTexture.Width;
+				int height = CamTexture.Height;
+				byte[] pixels = m_UseYUV ? (CamTexture as NRRGBCamTextureYUV).GetTexture().YBuf : GetYBufFromTexture((CamTexture as NRRGBCamTexture).GetTexture());
+
+				GetIntrinsics(out intrinsics);
+
+				float startTime = Time.realtimeSinceStartup;
+
+				Task<(byte[], icvCaptureInfo)> t = Task.Run(() =>
+				{
+					byte[] capture = new byte[channels * width * height + 8192];
+					icvCaptureInfo info = Immersal.Core.CaptureImage(capture, capture.Length, pixels, width, height, channels);
+					Array.Resize(ref capture, info.captureSize);
+					return (capture, info);
+				});
+
+				await t;
+
+				j.image = t.Result.Item1;
+				j.intrinsics = intrinsics;
+				j.mapIds = mapIds;
+
+				j.OnResult += (SDKGeoPoseResult result) =>
+				{
+					float elapsedTime = Time.realtimeSinceStartup - startTime;
+
+					if (result.success)
+					{
+						Debug.Log("*************************** GeoPose Localization Succeeded ***************************");
+						Debug.Log(string.Format("Relocalized in {0} seconds", elapsedTime));
+
+						int mapId = result.map;
+						double latitude = result.latitude;
+						double longitude = result.longitude;
+						double ellipsoidHeight = result.ellipsoidHeight;
+						Quaternion rot = new Quaternion(result.quaternion[1], result.quaternion[2], result.quaternion[3], result.quaternion[0]);
+						Debug.Log(string.Format("GeoPose returned latitude: {0}, longitude: {1}, ellipsoidHeight: {2}, quaternion: {3}", latitude, longitude, ellipsoidHeight, rot));
+
+						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)
+						{
+							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);
+							
+							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);
+						}
+					}
+					else
+					{
+						Debug.Log("*************************** GeoPose Localization Failed ***************************");
+						Debug.Log(string.Format("GeoPose localization attempt failed after {0} seconds", elapsedTime));
+					}
+				};
+
+				await j.RunJobAsync();
+			}
+			else
+			{
+				Debug.LogError("No camera pixel buffer");
+			}
+
+			base.LocalizeGeoPose(mapIds);
+        }
+		public RawImage rawimg;
+        private void OnRGBCaptureUpdate(CameraTextureFrame frame)
+        {
+			rawimg.texture = (Texture2D)frame.texture;
+			byte[] pixels = GetYBufFromTexture((Texture2D)frame.texture);
+
+			unsafe
+			{
+				ulong handle;
+				byte* ptr = (byte*)UnsafeUtility.PinGCArrayAndGetDataAddress(pixels, out handle);
+				m_PixelBuffer = (IntPtr)ptr;
+				UnsafeUtility.ReleaseGCObject(handle);
+			}
+        }
+
+        private void OnYUVCaptureUpdate(NRRGBCamTextureYUV.YUVTextureFrame frame)
+        {
+			if (m_PixelBuffer == IntPtr.Zero)
+			{
+				unsafe
+				{
+					ulong handle;
+					byte* ptr = (byte*)UnsafeUtility.PinGCArrayAndGetDataAddress(frame.YBuf, out handle);
+					m_PixelBuffer = (IntPtr)ptr;
+					UnsafeUtility.ReleaseGCObject(handle);
+				}
+			}
+        }
+
+		private byte[] GetYBufFromTexture(Texture2D tex)
+		{
+			Color32[] rgbArray = tex.GetPixels32();
+			byte[] pixels = new byte[rgbArray.Length];
+
+			for (int i = 0; i < rgbArray.Length; i++)
+			{
+				pixels[i] = rgbArray[i].g;
+			}
+
+			return pixels;
+		}
+
+        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/Scripts/Vuforia/RotbotControl.cs.meta → Assets/NRLocalizer.cs.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 515af09de6c628c44857381bbd3ba0b5
+guid: a6793aeafe13f421caecaaece6133c1d
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

Assets/Scripts/UI/GameManager.cs

@@ -1228,11 +1228,12 @@ public class GameManager : MonoSingleton<GameManager>
 
         GameObject anchorObj = GameObject.Instantiate(Resources.Load<GameObject>("Template/Prefab/Anchor"),AnchorsParent);
         anchorObj.name = "Anchor" + anchor.id;
+        /*
         VuforiaAnchor vuforiaAnchor = anchorObj.GetComponent<VuforiaAnchor>();
         vuforiaAnchor.player = GameManager.Instance.m_head.transform;
         if (VuforiaManager.Instance.list_Anchor == null)
             VuforiaManager.Instance.list_Anchor = new List<VuforiaAnchor>();
-        VuforiaManager.Instance.list_Anchor.Add(vuforiaAnchor);
+        VuforiaManager.Instance.list_Anchor.Add(vuforiaAnchor);*/
         var anchorPos = Vector3.zero;
         Debug.Log(anchor.picturePosition.pointRelativeX+"  "+ WebMapSize.x);
         anchorPos = new Vector3((float)anchor.picturePosition.pointRelativeX / WebMapSize.x * MapSize.x, -1f, -(float)anchor.picturePosition.pointRelativeY / WebMapSize.y * MapSize.y);

Assets/Scripts/Vuforia.meta

@@ -1,8 +0,0 @@
-fileFormatVersion: 2
-guid: 5895904adbdd4ce42a089e9146cfbec0
-folderAsset: yes
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scripts/Vuforia/RotbotControl.cs

@@ -1,21 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class RotbotControl : MonoBehaviour
-{
-    public GameObject rotbot;
-    public GameObject route;
-    
-    void Start()
-    {
-        // rotbot.transform.parent = null;
-
-        rotbot.transform.position = new Vector3(transform.position.x, rotbot.transform.position.y, transform.position.z);
-        rotbot.transform.eulerAngles = transform.eulerAngles;
-        rotbot.SetActive(true);
-        route.SetActive(false);
-    }
-
-  
-}

Assets/Scripts/Vuforia/RouteControl.cs

@@ -1,22 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class RouteControl : MonoBehaviour
-{
-    public GameObject Route;
-
-   
-
-   private void Start()
-    {
-        //Route.transform.eulerAngles = new Vector3(0, API_GSXR_Module_InputSystem_Head.GSXR_Head.transform.eulerAngles.y, 0);
-        Route.transform.eulerAngles = transform.eulerAngles;
-        Route.SetActive(true);
-        //VuforialControl.Instance.text3.text = 
-        //    (transform.eulerAngles.y - API_GSXR_Module_InputSystem_Head.GSXR_Head.transform.eulerAngles.y).ToString();
-        //Debug.Log("Open");
-    }
-
-   
-}

Assets/Scripts/Vuforia/RouteControl.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Vuforia/TargetShowObj.cs

@@ -1,12 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class TargetShowObj : MonoBehaviour
-{
-    public Vector3 pos;
-    public float rotY;
-
-
-   
-}

Assets/Scripts/Vuforia/TargetShowObj.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Vuforia/Vuforia.meta

@@ -1,8 +0,0 @@
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-folderAsset: yes
-DefaultImporter:
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Assets/Scripts/Vuforia/Vuforia/ImageTargetManager.cs

@@ -1,226 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using UnityEngine;
-using UnityEngine.UI;
-using Vuforia;
-//using Vuforia;
-
-/// <summary>
-/// 识别图管理器
-/// </summary>
-public class ImageTargetManager : MonoSingleton<ImageTargetManager>
-{
-    
-    //public Text logtest;
-
-    //public Text errortext;
-  //  public List<GameObject> listShowObj;
-    /// <summary>
-    /// 识别图加载完成
-    /// </summary>
-    public event Action<string[]> ImageTargerLoadedEvent;
-
-    /// <summary>
-    /// 本地文件路径
-    /// </summary>
-    private string m_localFilePath;
-    /// <summary>
-    /// 是否加载过
-    /// </summary>
-    private bool m_isLoaded;
-    /// <summary>
-    /// 数据集
-    /// </summary>
- //  private DataSet m_dataSet = null;
-    /// <summary>
-    /// 识别器
-    /// </summary>
-  //  private ObjectTracker m_tracker;
-    /// <summary>
-    /// 识别图集合对象
-    /// </summary>
-    private ImageTargetBehaviour[] m_imageTargetBehaviours;
-
-    private void Start()
-    {
-      //  Debug.Log(" Inited  " + m_isLoaded);
-        m_isLoaded = false;
-        //TODO  识别图相关信息加载
-        //VuforiaBehaviour.Instance.RegisterVuforiaInitializedCallback(VuforiaInitedCallBack);
-
-        LoadVuforiaDat();
-
-
-    }
-
-    public void LoadVuforiaDat()
-    {
-        try
-        {
-
-          //   VuforiaARController.Instance.RegisterVuforiaInitializedCallback(VuforiaInitedCallBack);
-         //   VuforiaARController.Instance.RegisterVuforiaStartedCallback(VuforiaStaredtCallBack);
-        }
-        catch (Exception e)
-        {
-            Debug.LogError(" 识别图加载出错： " + e.Message);
-
-            //  errortext.text = e.Message;
-        }
-    }
-    /// <summary>
-    /// 高通初始化完毕回调
-    /// </summary>
-    void VuforiaInitedCallBack()
-    {
-        m_localFilePath = Application.persistentDataPath + "/StreamingAssets/Vuforia/" + AppConfigConst.IMAGE_TARGET_FILE_NAME + ".xml";
-
-        Debug.Log( " Inited@@@  "+m_localFilePath+"  " +File.Exists(m_localFilePath));
-        //logtest.text = " Inited@@@  " + m_localFilePath + "  " + File.Exists(m_localFilePath);
-        if (File.Exists(m_localFilePath))
-        {
-            //Load Local
-            StartCoroutine(LoadLocalFile());
-        }
-        else
-        {
-            //Load NetWork
-            StartCoroutine(LoadNetworkFile());
-        }
-    }
-
-    void VuforiaStaredtCallBack()
-    {
-     //   CameraDevice.Instance.SetFocusMode(CameraDevice.FocusMode.FOCUS_MODE_CONTINUOUSAUTO);
-    //  errortext.text =    CameraDevice.Instance.SetFocusMode(CameraDevice.FocusMode.FOCUS_MODE_CONTINUOUSAUTO).ToString();  //auto focus
-    }
-
-
-    /// <summary>
-    /// 加载网络配置文件
-    /// </summary>
-    /// <returns></returns>
-    private IEnumerator LoadNetworkFile()
-    {
-        WWW wwwdat = new WWW(AppConfigConst.IMAGE_TARGET_FILE_PATH + AppConfigConst.IMAGE_TARGET_FILE_NAME + ".dat");
-        yield return wwwdat;
-
-        Debug.Log(wwwdat.url);
-        WWW wwwxml = new WWW(AppConfigConst.IMAGE_TARGET_FILE_PATH + AppConfigConst.IMAGE_TARGET_FILE_NAME + ".xml");
-        yield return wwwxml;
-
-        File.WriteAllBytes(Application.persistentDataPath + "/" + AppConfigConst.IMAGE_TARGET_FILE_NAME + ".dat", wwwdat.bytes);
-        File.WriteAllBytes(Application.persistentDataPath + "/" + AppConfigConst.IMAGE_TARGET_FILE_NAME + ".xml", wwwxml.bytes);
-        StartCoroutine(LoadLocalFile());
-    }
-
-
-    /// <summary>
-    /// 加载本地配置文件
-    /// </summary>
-    /// <returns></returns>
-    IEnumerator LoadLocalFile()
-    {
-        bool isVuforiaEnabled = VuforiaRuntimeUtilities.IsVuforiaEnabled();
-        Debug.Log(isVuforiaEnabled);
-       // logtest.text = "isVuforiaEnabled   " + isVuforiaEnabled + "  m_isLoaded " + m_isLoaded;
-        if (isVuforiaEnabled && m_isLoaded == false)
-        {
-           // if (m_dataSet == null)
-          //  {
-           //     m_tracker = TrackerManager.Instance.GetTracker<ObjectTracker>();
-          //      m_dataSet = m_tracker.CreateDataSet();
-          //  }
-
-            Debug.Log("LoadData " + m_localFilePath);
-         //   logtest.text = "LoadData " + m_localFilePath;
-          //  ObjectTracker objectTracker = TrackerManager.Instance.GetTracker<ObjectTracker>();
-         //   objectTracker.Stop();
-         //   if (m_dataSet.Load(m_localFilePath, VuforiaUnity.StorageType.STORAGE_ABSOLUTE))
-          //  {
-                Debug.Log("LoadData OVer " + m_localFilePath);
-         //       logtest.text = "LoadData OVer " + m_localFilePath;
-
-          //      m_isLoaded = true;
-          //      m_tracker.ActivateDataSet(m_dataSet);
-                //   errortext.text =  m_tracker.ActivateDataSet(m_dataSet).ToString();
-
-           //     objectTracker.Start();
-          //      UpdateImageTarget();
-
-               
-       //    }
-         //   else
-        //    {
-        //        m_isLoaded = false;
-        //    }
-        }
-        WWW www = new WWW("file:///" + m_localFilePath);
-        yield return www;
-    }
-
-
-    /// <summary>
-    /// 修改Imagetarget 的名称
-    /// </summary>
-    void UpdateImageTarget()
-    {
-        List<string> imagetargetNameList = new List<string>();
-        m_imageTargetBehaviours = FindObjectsOfType<ImageTargetBehaviour>();
-      //  logtest.text = m_imageTargetBehaviours.Length.ToString();
-        for (int i = 0; i < m_imageTargetBehaviours.Length; i++)
-        {
-            ImageTargetBehaviour imageTargetBehaviour = m_imageTargetBehaviours[i];
-            //logtest.text = logtest.text+"  "+ m_imageTargetBehaviours[i].name;
-          //  imageTargetBehaviour.name = "ImageTarget_" + imageTargetBehaviour.ImageTarget.Name;
-
-            //imageTargetBehaviour.gameObject.AddComponent<DefaultTrackableEventHandler>();
-
-            //读取 DefaultTrackableEventHandler.lua
-            imageTargetBehaviour.gameObject.AddComponent<DefaultObserverEventHandler>();
-            //imageTargetBehaviour.gameObject.AddComponent<LuaTrackableEventHandler>();
-            imageTargetBehaviour.gameObject.AddComponent<TurnOffBehaviour>();
-            imageTargetBehaviour.gameObject.AddComponent<VuforialFindImageAction>();
-            imagetargetNameList.Add(imageTargetBehaviour.name);
-           
-            //listShowObj[i].transform.parent = imageTargetBehaviour.transform;
-            //listShowObj[i].transform.localPosition = Vector3.zero;
-            VuforialFindImageAction imageaction = imageTargetBehaviour.gameObject.GetComponent<VuforialFindImageAction>();
-            GameObject obj = new GameObject("TargetObj");
-            obj.transform.parent = imageaction.transform;
-            obj.transform.localEulerAngles = new Vector3(90, 0, 0);
-            obj.transform.localPosition = Vector3.zero;
-            
-           // imageaction.num = i;
-          //  imageaction.targetObj = obj.AddComponent<TargetObjDeg>();
-           // imageaction.pointObj = 0;
-            obj.GetComponent<TargetObjDeg>().player = GameManager.Instance.m_head.transform;
-            // VuforialControl.Instance.list_ImageAction.Add(imageaction);
-            
-        }
-      
-       OnImageTargerLoadedEvent(imagetargetNameList.ToArray());
-    }
-
-    /// <summary>
-    /// 获取所有的识别图对象
-    /// </summary>
-    /// <returns></returns>
-    public ImageTargetBehaviour[] GetImageTargetBehaviours()
-    {
-        return m_imageTargetBehaviours;
-    }
-
-    protected virtual void OnImageTargerLoadedEvent(string[] obj)
-    {
-        var handler = ImageTargerLoadedEvent;
-        if (handler != null)
-        {
-            handler(obj);
-        }
-    }
-}
-
-

Assets/Scripts/Vuforia/Vuforia/ImageTargetManager.cs.meta

@@ -1,11 +0,0 @@
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Assets/Scripts/Vuforia/Vuforia/KalmanFilter.cs

@@ -1,81 +0,0 @@
-
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class KalmanFilter
-{
-    public float[] Filter(float[] z)
-    {
-        float[] xhat = new float[z.Length];
-        xhat[0] = z[0];
-        float P = 1;
-
-        for (int k = 1; k < xhat.Length; k++)
-        {
-            float xhatminus = xhat[k - 1];
-            float Pminus = P + Q;
-            float K = Pminus / (Pminus + R);
-            xhat[k] = xhatminus + K * (z[k] - xhatminus);
-            P = (1 - K) * Pminus;
-        }
-        return xhat;
-    }
-
-    bool isFirst = true;
-    bool haveSetFirst = false;
-    float xhat;
-    float P;
-    float z0;
-    float Q = 1e-5f; // 0.00001
-    float R = 0.0001f;
-
-    public void SetFirst(float z0)
-    {
-        this.z0 = z0;
-        haveSetFirst = true;
-    }
-
-    // 理想误差
-    public void SetQ(float Q)
-    {
-        this.Q = Q;
-    }
-
-    // 实际误差
-    public void SetR(float R)
-    {
-        this.R = R;
-    }
-
-    public float Filter(float z1)
-    {
-        if (isFirst)
-        {
-            isFirst = false;
-            if (haveSetFirst == false) z0 = z1;
-            xhat = z0;
-            P = 1;
-        }
-
-        float xhatminus = xhat;
-        float Pminus = P + Q;
-        float K = Pminus / (Pminus + R);
-        xhat = xhatminus + K * (z1 - xhatminus);
-        P = (1 - K) * Pminus;
-
-        return xhat;
-    }
-
-    public void Reset()
-    {
-        isFirst = true;
-        haveSetFirst = false;
-        xhat = 0;
-        P = 0;
-        z0 = 0;
-        Q = 1e-5f; // 0.00001
-        R = 0.0001f;
-    }
-}
-

Assets/Scripts/Vuforia/Vuforia/KalmanFilter.cs.meta

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Assets/Scripts/Vuforia/Vuforia/KalmanLatLong.cs

@@ -1,68 +0,0 @@
-using System;
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class KalmanLatLong
-{
-    private float MinAccuracy = 1;
-
-    private float Q_metres_per_second;
-    private long TimeStamp_milliseconds;
-    private double lat;
-    private double lng;
-    private float variance; // P matrix.  Negative means object uninitialised.  NB: units irrelevant, as long as same units used throughout
-
-    public KalmanLatLong(float Q_metres_per_second) { this.Q_metres_per_second = Q_metres_per_second; variance = -1; }
-
-    public long get_TimeStamp() { return TimeStamp_milliseconds; }
-    public double get_lat() { return lat; }
-    public double get_lng() { return lng; }
-    public float get_accuracy() { return (float)Math.Sqrt(variance); }
-
-    public void SetState(double lat, double lng, float accuracy, long TimeStamp_milliseconds)
-    {
-        this.lat = lat; this.lng = lng; variance = accuracy * accuracy; this.TimeStamp_milliseconds = TimeStamp_milliseconds;
-    }
-
-    /// <summary>
-    /// Kalman filter processing for lattitude and longitude
-    /// </summary>
-    /// <param name="lat_measurement_degrees">new measurement of lattidude</param>
-    /// <param name="lng_measurement">new measurement of longitude</param>
-    /// <param name="accuracy">measurement of 1 standard deviation error in metres</param>
-    /// <param name="TimeStamp_milliseconds">time of measurement</param>
-    /// <returns>new state</returns>
-    public void Process(double lat_measurement, double lng_measurement, float accuracy, long TimeStamp_milliseconds)
-    {
-        if (accuracy < MinAccuracy) accuracy = MinAccuracy;
-        if (variance < 0)
-        {
-            // if variance < 0, object is unitialised, so initialise with current values
-            this.TimeStamp_milliseconds = TimeStamp_milliseconds;
-            lat = lat_measurement; lng = lng_measurement; variance = accuracy * accuracy;
-        }
-        else
-        {
-            // else apply Kalman filter methodology
-
-            long TimeInc_milliseconds = TimeStamp_milliseconds - this.TimeStamp_milliseconds;
-            if (TimeInc_milliseconds > 0)
-            {
-                // time has moved on, so the uncertainty in the current position increases
-                variance += TimeInc_milliseconds * Q_metres_per_second * Q_metres_per_second / 1000;
-                this.TimeStamp_milliseconds = TimeStamp_milliseconds;
-                // TO DO: USE VELOCITY INFORMATION HERE TO GET A BETTER ESTIMATE OF CURRENT POSITION
-            }
-
-            // Kalman gain matrix K = Covarariance * Inverse(Covariance + MeasurementVariance)
-            // NB: because K is dimensionless, it doesn't matter that variance has different units to lat and lng
-            float K = variance / (variance + accuracy * accuracy);
-            // apply K
-            lat += K * (lat_measurement - lat);
-            lng += K * (lng_measurement - lng);
-            // new Covarariance  matrix is (IdentityMatrix - K) * Covarariance 
-            variance = (1 - K) * variance;
-        }
-    }
-}

Assets/Scripts/Vuforia/Vuforia/KalmanLatLong.cs.meta

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Assets/Scripts/Vuforia/Vuforia/TargetObjDeg.cs

@@ -1,60 +0,0 @@
-/****************************
-  summary：
-
-****************************/
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class TargetObjDeg : MonoBehaviour
-{
-    public bool state;
-    public Transform player;
-    private float y;
-    private Vector3 disPos;
-    private float dic;
-    private Vector3 dir;
-    private Vector3 cross;
-    private float dot;
-    private float deg;
-
-    private void Start()
-    {
-        state = false;
-    }
-
-    public void FixedUpdate()
-    {
-        if (!state)
-            return;
-
-        dic = Mathf.Abs(Vector3.Distance(player.position, transform.position));
-        if (dic < 2.5f)
-        {   
-            dir = player.position - transform.position;
-            cross = Vector3.Cross(transform.forward, dir);
-            dot = Vector3.Dot(transform.forward, dir.normalized);
-            deg = Mathf.Acos(dot) * Mathf.Rad2Deg;
-            //Debug.Log("  ");
-            //dic =Mathf.Abs( Vector3.Distance(player.position, transform.position));
-            Debug.Log("cross.y : " + cross.y + "deg : " + deg);
-         //   VuforiaManager.Instance.text.text = "Dot : " + dot + " deg : " + deg + " dic: " + dic;
-            if (cross.y < 0 && deg >= 165)
-            {
-                VuforiaManager.Instance.isCorrect = true;
-            }
-            else if(VuforiaManager.Instance.isCorrect)
-            {
-                VuforiaManager.Instance.isCorrect = false;
-            }
-
-
-            //Vector3 pDir = transform.position - player.position;
-            //Vector3 pCross = Vector3.Cross(player.forward, pDir);
-            //float pDot = Vector3.Dot(player.forward, pDir.normalized);
-            //float pDeg = Mathf.Acos(pDot) * Mathf.Rad2Deg;
-
-        }
-    }
-
-}

Assets/Scripts/Vuforia/Vuforia/TargetObjDeg.cs.meta

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Assets/Scripts/Vuforia/Vuforia/TestLoadVuforia.cs

@@ -1,94 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using System.IO;
-using UnityEngine;
-using UnityEngine.Networking;
-
-public class TestLoadVuforia : MonoBehaviour
-{
-    public GameObject VuforiaManager;
-    // Start is called before the first frame update
-    void Start()
-    {
-        //StartCoroutine(GetRequest("YCYL3_3Test.dat"));
-        //StartCoroutine(GetRequest("YCYL3_3Test.xml"));
-
-        StartCoroutine(GetRequestBundle("spacestation", 111));
-    }
-
-
-
-    
-    private IEnumerator GetRequest(string methodName)
-    {
-        string url = Application.streamingAssetsPath + "/Vuforia/" + methodName;
-        using (UnityWebRequest webRequest = UnityWebRequest.Get(url))
-        {
-           
-            yield return webRequest.SendWebRequest();
-
-            if (webRequest.isHttpError || webRequest.isNetworkError)
-            {
-                Debug.LogError(webRequest.error + "\n" + webRequest.downloadHandler.text);
-               
-            }
-            else
-            {
-               string path = Application.persistentDataPath + "/StreamingAssets/Vuforia";
-
-                if (!Directory.Exists(path))
-                {
-                    Directory.CreateDirectory(path);
-                }
-                File.WriteAllBytes(Application.persistentDataPath + "/StreamingAssets/Vuforia/" + methodName, webRequest.downloadHandler.data);
-                
-                if(methodName == "YCYL3_3Test.dat")
-                {
-                    StartCoroutine(OpenVuforia(5));
-                }
-            }
-        }
-    }
-
-    private IEnumerator OpenVuforia(float timer)
-    {
-        yield return new WaitForSeconds(timer);
-        VuforiaManager.SetActive(true);
-    }
-
-
-    private IEnumerator GetRequestBundle(string methodName ,int time)
-    {
-        string url = Application.streamingAssetsPath + "/Model/" + methodName;
-
-        Debug.Log(url);
-        using (UnityWebRequest webRequestAB = UnityWebRequestAssetBundle.GetAssetBundle(url))
-        {
-           
-   
-
-            yield return webRequestAB.SendWebRequest();
-            if (webRequestAB.isHttpError || webRequestAB.isNetworkError)
-            {
-                Debug.LogError(webRequestAB.error + "\n" + webRequestAB.downloadHandler.text);
-            }
-            else
-            {
-                AssetBundle bundle = DownloadHandlerAssetBundle.GetContent(webRequestAB);
-
-              //  Debug.Log(bundle.GetAllAssetNames()[0]);
-
-                GameObject obj = bundle.LoadAsset<GameObject>(bundle.GetAllAssetNames()[0]);
-                List<GameObject> listObjs = new List<GameObject>();
-                listObjs.Add(obj);
-                object value = listObjs;
-
-               GameObject model =  GameObject.Instantiate(obj);
-
-                model.transform.position = Vector3.zero;
-            }
-
-        }
-    }
-
-}

Assets/Scripts/Vuforia/Vuforia/TestLoadVuforia.cs.meta

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Assets/Scripts/Vuforia/Vuforia/VuforiaAnchor.cs

@@ -1,124 +0,0 @@
-/****************************
-  summary： 计算锚点差值，定位场景
-
-****************************/
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-public class VuforiaAnchor : MonoBehaviour
-{
-    private Transform targetObj = null;
-
-    private bool state = false;
-    private bool onlySet = true;
-  //  private Collider[] coliders;
-    public Transform player;
-   
-    private float y;
-    private Vector3 disPos;
-    private float dic;
-    private Vector3 dir;
-    private Vector3 cross;
-    private float dot;
-    private float deg;
-    private void Start()
-    {
-     //   player = API_SVR.GetHead();
-    }
-
-    private void FixedUpdate()
-    {    
-        /*
-         *  1.首次定位时直接整体 移动选择
-         *  2.后续矫正判断识别图和Player的公积和距离，在范围内再进行移动
-         *  
-         */
-        if (state && VuforiaManager.Instance.isCorrect)
-        {
-            if (player == null)
-                return;
-
-            Debug.Log(" 定位中。。。 ");
-
-            if (onlySet)
-            {
-                onlySet = false;
-
-                y = targetObj.eulerAngles.y - transform.eulerAngles.y;
-                VuforiaManager.Instance.sceneMap.eulerAngles += new Vector3(0, y, 0);
-                disPos = targetObj.position - transform.position;
-                //Debug.Log(transform.position + "  " + targetObj.position);
-                //Debug.Log(VuforiaManager.Instance.sceneMap.position);
-                //Debug.Log(" DisPos   " + disPos);
-                VuforiaManager.Instance.sceneMap.position += disPos;
-            }
-            else
-            {
-
-                Vector3 disPos = targetObj.position - transform.position;
-                disPos = VuforiaManager.Instance.sceneMap.position + disPos;
-                VuforiaManager.Instance.sceneMap.position = Vector3.Lerp(VuforiaManager.Instance.sceneMap.position, disPos, Time.deltaTime * 10f);
-              
-            }
-        }
-    }
-    // 首次定位
-    public void Show( Transform targetObj)
-    {
-        Debug.Log("  Show    ");
-        this.targetObj = targetObj;
-        // StartCoroutine(Show(1));
-        state = true;
-        onlySet = true;
-    }
-
-
-    //再次定位
-    public void ReplaceShow()
-    {
-        state = true;
-       // onlySet = true;
-        //  StartCoroutine(Show(1));
-    }
-    // 关闭
-    public void Close()
-    {
-        state = false;
-    }
-    // 强制关闭
-    public void DirectClose()
-    {
-        state = false;
-    }
-
-    public void PhysicsCollider()
-    {
-        //coliders = Physics.OverlapSphere(transform.position, 2.5f, 8);
-        //player = coliders[0].transform;
-        //if (coliders.Length>1)
-        //{
-        //    Debug.LogError(" 检测玩家个数设置错误 ");
-        //    return;
-        //}
-
-      
-    }
-
-    IEnumerator Show(float timer)
-    {
-        yield return new WaitForSeconds(timer);
-
-        float y = targetObj.eulerAngles.y - transform.eulerAngles.y;
-        VuforiaManager.Instance.sceneMap.eulerAngles += new Vector3(0, y, 0);
-
-        Vector3 disPos = targetObj.position - transform.position;
-        Debug.Log(transform.position + "  " + targetObj.position);
-        Debug.Log(VuforiaManager.Instance.sceneMap.position);
-        Debug.Log(" DisPos   " + disPos);
-
-        VuforiaManager.Instance.sceneMap.position += disPos;
-    }
-
-
-}

Assets/Scripts/Vuforia/Vuforia/VuforiaAnchor.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: b0c40568e53ca504ba0ea1ea5d30dd24
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/Scripts/Vuforia/Vuforia/VuforiaManager.cs

@@ -1,94 +0,0 @@
-/****************************
-  summary：
-
-****************************/
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using UnityEngine.UI;
-
-public class VuforiaManager : MonoSingleton<VuforiaManager>
-{
-    /// <summary>
-    /// 当前生成的场景
-    /// </summary>
-    public Transform sceneMap;
-    //[SerializeField]
-    //private List<Transform> list_ImageTargetObj;
-    [SerializeField]
-    public List<VuforiaAnchor> list_Anchor;
-    private VuforiaAnchor oldAnchor;
-
-    public Text text;
-    public bool isCorrect;
-    private void Start()
-    {
-        oldAnchor = null;
-
-       // StartCoroutine(LoadARCamera());
-        isCorrect = false;
-    }
-
-    //private void Update()
-    //{
-    //    if (oldAnchor != null)
-    //        text.text = oldAnchor.transform.eulerAngles.x + "  " + oldAnchor.transform.eulerAngles.y + "  " + oldAnchor.transform.eulerAngles.z;
-    //}
-    public void TrackingFound(Transform targetObj , int num)
-    {
-        try
-        {
-            if (list_Anchor.Count < (num+1) || list_Anchor.Count < 1)
-                return;
-            SelectSceneAnchor(targetObj, num);
-        }
-        catch (System.Exception e)
-        {
-            Debug.LogError(e.Message);
-        }
-    }
-
-    public void TrackingLost(int num)
-    {
-        if (list_Anchor.Count < (num+1) || list_Anchor.Count < 1)
-            return;
-        list_Anchor[num].Close();
-    }
-
-    public void SelectSceneAnchor(Transform targetObj, int num)
-    {
-        if (oldAnchor == null)
-        {
-            oldAnchor = list_Anchor[num];
-            oldAnchor.Show(targetObj);
-        }
-        else if (oldAnchor == list_Anchor[num])
-        {
-            // oldTarget.DirectClose();
-            oldAnchor.ReplaceShow();
-        }
-        else if (oldAnchor != list_Anchor[num])
-        {
-            oldAnchor.DirectClose();
-            oldAnchor = list_Anchor[num];
-            oldAnchor.Show(targetObj);
-
-           // if(oldAnchor!=list_Anchor[num].gameObject)
-        }
-    }
-
-    public void ARCameraLoad()
-    {
-      //  StartCoroutine(LoadARCamera());
-    }
-
-     IEnumerator LoadARCamera()
-    {
-       // yield return API_GSXR_Slam.SlamManager.IsRunning;
-
-        yield return new WaitForSeconds(2f);
-       GameObject.Instantiate(Resources.Load<GameObject>("ARCamera"));
-    }
-
-   
-}