JunShi101ShiNei/Assets/XDKUnityPluginCloud/Runtime/Scripts/XDKDefines.cs

using System;
using System.Text;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Events;


namespace Seengene.XDKUnityPluginCloud {

    #region enum
    public enum MapQueryStatus {
        MAP_SUCCESS = 0,
        MAP_FAIL = 1
    }

    public enum SmoothMoveType {
        Linear = 0,
        EaseInOut = 1
    }

    public enum RelocalizeQueryStatus {
        // BA success, the result is filtered, implies FRAME_SUCCESS
        // In this status, m_inliers_3d_vector contains the set of all 3D points in the BA window
        SUCCESS = 0,
        // relocalization for current frame is successful, but BA failed
        FRAME_SUCCESS_BA_FAIL = 1,
        // the requested map is not ready yet on this server
        // user should request map first
        MAP_FAIL = 2,
        // relocalization for current frame is unsuccessful
        RELOCALIZE_FAIL = 3,
        // BA session is not found for this query, client should request map again
        BA_SESSION_EXPIRED = 4
    }
    public enum DebugInfoType {
        Normal = 0,
        UpdateFrameNative = 1,
        GetSpatialMappingNative = 2
    }

    #endregion of enum


    #region Custom Data Structure

    /// <summary>
    /// 请求地图，获得session id
    /// </summary>
    public class RequestMapKeys {
        // Request
        public const byte RequestType_MapId = 0;        // 地图ID

        // Response
        public const byte ResponseType_SessionId = 0;   // session id
        public const byte ResponseType_Status = 1;      // 请求地图结果状态码
        public const byte ResponseType_Scale = 2;       // 地图缩放值，暂时没有使用
    }

    /// <summary>
    /// 请求定位，获得定位结果
    /// </summary>
    public class RelocalizeKeys {
        // Request
        public const byte RequestType_SessionId = 0;      // session id
        public const byte RequestType_Seq = 1;            // 一个session内的顺序码
        public const byte RequestType_Pose = 2;           // 当前追踪的位姿
        public const byte RequestType_Intrinsics = 3;     // 当前图像的内参
        public const byte RequestType_Image = 4;          // 图像数据
        public const byte RequestType_MapID = 5;          // 地图id（optional for wechat applet）
        public const byte RequestType_CameraModel = 6;    // 相机模型（optional for glass, 0:pinhole 1:fisheye 2:others）
        public const byte RequestType_DitortionPara = 7;  // 相机畸变参数（optional for glass）

        // Response
        public const byte ResponseType_Status = 0;       // 定位结果状态码
        public const byte ResponseType_Seq = 1;          // 针对session内这个seq请求的定位结果
        public const byte ResponseType_Point2dVec = 2;   // 2D点向量
        public const byte ResponseType_Point3dVec = 3;   // 3D点向量
        public const byte ResponseType_TransformLtg = 4; // local to global transform
        public const byte ResponseType_ExtraMsg = 5;     // 其他信息，说明用字符串
    }

    public class AuthorizationResponse {
        public string sessionID;
        public Int32 status;
        public double scale;

        public AuthorizationResponse() { }
        public AuthorizationResponse(Int32 status, double scale, string sessionID) {
            this.status = status;
            this.scale = scale;
            this.sessionID = sessionID;
        }

        public override string ToString() {
            return string.Format("AuthorizationResponse status:{0}, scale:{1}, sessionID:{2}", status, scale, sessionID);
        }
    }

    public class RelocationResponse {
        public Int32 status;
        public Int32 seq;
        public List<Vector2> point2d_vec = new List<Vector2>();
        public List<Vector3> point3d_vec = new List<Vector3>();
        public List<double> transform_ltg = new List<double>();
        public string extra_msg;

        public Matrix4x4 cameraPos;
        public CameraCalibration cameraCalibration;
        public string sessionID;

        public RelocationResponse() { }

        public RelocationResponse(Int32 status, Int32 seq, List<Vector2> point2d_vec, List<Vector3> point3d_vec, List<double> transform_ltg, string extra_msg, Matrix4x4 cameraPos, CameraCalibration cameraCalibration, string sessionID) {
            this.status = status;
            this.seq = seq;
            this.point2d_vec = point2d_vec;
            this.point3d_vec = point3d_vec;
            this.transform_ltg = transform_ltg;
            this.extra_msg = extra_msg;
            this.cameraPos = cameraPos;
            this.cameraCalibration = cameraCalibration;
            this.sessionID = sessionID;
        }

        public override string ToString() {
            return string.Format("RelocationResponse status:{0}, seq:{1}, point2d_vec:{2}, point3d_vec:{3}, transform_ltg:{4}, extra_msg:{5}",
                status, seq, XDKTools.ListVectro2ToString(point2d_vec), XDKTools.ListVector3ToString(point3d_vec), XDKTools.ListDoubleToString(transform_ltg), extra_msg);
        }
    }

    [System.Serializable]
    public class RelocUploadImageItem {
        public string sessionID;
        public Int32 seq;
        public Matrix4x4 cameraPose;
        public CameraCalibration cameraCalibration;
        public byte[] imageBytes;

        public RelocUploadImageItem() { }

        public RelocUploadImageItem(string sessionID, Int32 seq, Matrix4x4 cameraPose, CameraCalibration cameraCalibration, byte[] imageBytes) {
            this.sessionID = sessionID;
            this.seq = seq;
            this.cameraPose = cameraPose;
            this.cameraCalibration = cameraCalibration;
            this.imageBytes = imageBytes;
        }

        public override string ToString() {
            StringBuilder sb = new StringBuilder();
            sb.Append("RelocUploadImageItem: ");
            sb.Append("sessionID: " + sessionID + "; ");
            sb.Append("seq: " + seq + "; ");
            sb.Append("cameraPose: " + cameraPose.ToString() + "; ");
            sb.Append("cameraCalibration: " + cameraCalibration.ToString() + "; ");
            sb.Append("imageBytes(0-100): " + XDKTools.GetBytesString(imageBytes, 0, 100, ", ") + "; ");
            return sb.ToString();
        }
    }

    #endregion of Custom Data Structure


    #region Cumsom UnityEvent

    [System.Serializable]
    public class UnityEventBool : UnityEvent<bool> { }

    #endregion of Cumsom UnityEvent
}