diff --git a/Examples/AugmentedFacesExample/AugmentedFacesExample/FaceMeshGeometryConverter.swift b/Examples/AugmentedFacesExample/AugmentedFacesExample/FaceMeshGeometryConverter.swift index 3ac5c3e..ac6d254 100644 --- a/Examples/AugmentedFacesExample/AugmentedFacesExample/FaceMeshGeometryConverter.swift +++ b/Examples/AugmentedFacesExample/AugmentedFacesExample/FaceMeshGeometryConverter.swift @@ -14,10 +14,9 @@ * limitations under the License. */ +import ARCore import SceneKit - import ARCore - /// Contains all objects needed to hold a face mesh. Used for multi-buffering. private class FaceMesh { /// Metal buffer containing vertex positions. diff --git a/Examples/AugmentedFacesExample/AugmentedFacesExample/FacesViewController.swift b/Examples/AugmentedFacesExample/AugmentedFacesExample/FacesViewController.swift index 662fc8b..1e354a0 100644 --- a/Examples/AugmentedFacesExample/AugmentedFacesExample/FacesViewController.swift +++ b/Examples/AugmentedFacesExample/AugmentedFacesExample/FacesViewController.swift @@ -14,14 +14,13 @@ * limitations under the License. */ +import ARCore import AVFoundation import CoreMedia import CoreMotion import SceneKit import UIKit - import ARCore - /// Demonstrates how to use ARCore Augmented Faces with SceneKit. public final class FacesViewController: UIViewController { diff --git a/Examples/AugmentedFacesExample/Podfile b/Examples/AugmentedFacesExample/Podfile index ef067e0..fb8b3cd 100644 --- a/Examples/AugmentedFacesExample/Podfile +++ b/Examples/AugmentedFacesExample/Podfile @@ -1,4 +1,4 @@ target 'AugmentedFacesExample' use_frameworks! platform :ios, '12.0' -pod 'ARCore/AugmentedFaces', '~> 1.44.0' \ No newline at end of file +pod 'ARCore/AugmentedFaces', '~> 1.45.0' \ No newline at end of file diff --git a/Examples/CloudAnchorExample/CloudAnchorExample.xcodeproj/project.pbxproj b/Examples/CloudAnchorExample/CloudAnchorExample.xcodeproj/project.pbxproj index 933e233..7e0c192 100644 --- a/Examples/CloudAnchorExample/CloudAnchorExample.xcodeproj/project.pbxproj +++ b/Examples/CloudAnchorExample/CloudAnchorExample.xcodeproj/project.pbxproj @@ -3,40 +3,33 @@ archiveVersion = 1; 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+ CLANG_CXX_LANGUAGE_STANDARD = "gnu++20"; CLANG_ENABLE_MODULES = YES; CLANG_ENABLE_OBJC_ARC = YES; + CLANG_ENABLE_OBJC_WEAK = YES; CLANG_WARN_BLOCK_CAPTURE_AUTORELEASING = YES; CLANG_WARN_BOOL_CONVERSION = YES; CLANG_WARN_COMMA = YES; CLANG_WARN_CONSTANT_CONVERSION = YES; + CLANG_WARN_DEPRECATED_OBJC_IMPLEMENTATIONS = YES; CLANG_WARN_DIRECT_OBJC_ISA_USAGE = YES_ERROR; CLANG_WARN_DOCUMENTATION_COMMENTS = YES; CLANG_WARN_EMPTY_BODY = YES; @@ -262,20 +241,22 @@ CLANG_WARN_INFINITE_RECURSION = YES; CLANG_WARN_INT_CONVERSION = YES; CLANG_WARN_NON_LITERAL_NULL_CONVERSION = YES; + CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES; CLANG_WARN_OBJC_LITERAL_CONVERSION = YES; CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR; + CLANG_WARN_QUOTED_INCLUDE_IN_FRAMEWORK_HEADER = YES; CLANG_WARN_RANGE_LOOP_ANALYSIS = YES; CLANG_WARN_STRICT_PROTOTYPES = YES; CLANG_WARN_SUSPICIOUS_MOVE = YES; CLANG_WARN_UNGUARDED_AVAILABILITY = YES_AGGRESSIVE; CLANG_WARN_UNREACHABLE_CODE = YES; CLANG_WARN__DUPLICATE_METHOD_MATCH = YES; 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+ INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; + LD_RUNPATH_SEARCH_PATHS = ( + "$(inherited)", + "@executable_path/Frameworks", + ); + MARKETING_VERSION = 1.0; OTHER_LDFLAGS = ( "$(inherited)", "-ObjC", ); - PRODUCT_BUNDLE_IDENTIFIER = com.google.arcore.CloudAnchorExample; + PRODUCT_BUNDLE_IDENTIFIER = com.google.ARCloudAnchor; PRODUCT_NAME = "$(TARGET_NAME)"; - PROVISIONING_PROFILE_SPECIFIER = "Google Development"; + PROVISIONING_PROFILE_SPECIFIER = ""; + SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Debug; }; - 0285F80A208A82B900A7B463 /* Release */ = { + 3E9E388F2C25E78A004D131D /* Release */ = { isa = XCBuildConfiguration; buildSettings = { - ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; - "CODE_SIGN_IDENTITY[sdk=iphoneos*]" = "iPhone Developer"; + ASSETCATALOG_COMPILER_APPICON_NAME = ""; + ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = ""; CODE_SIGN_STYLE = Manual; - DEVELOPMENT_TEAM = EQHXZ8M8AV; - ENABLE_BITCODE = NO; + CURRENT_PROJECT_VERSION = 1; + DEVELOPMENT_ASSET_PATHS = ""; + DEVELOPMENT_TEAM = ""; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; INFOPLIST_FILE = CloudAnchorExample/Info.plist; - IPHONEOS_DEPLOYMENT_TARGET = 11.3; - LD_RUNPATH_SEARCH_PATHS = "$(inherited) @executable_path/Frameworks"; + INFOPLIST_KEY_NSCameraUsageDescription = "This application will use the camera for Augmented Reality."; + INFOPLIST_KEY_UIApplicationSceneManifest_Generation = YES; + INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; + INFOPLIST_KEY_UILaunchScreen_Generation = YES; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = arkit; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; + LD_RUNPATH_SEARCH_PATHS = ( + "$(inherited)", + "@executable_path/Frameworks", + ); + MARKETING_VERSION = 1.0; OTHER_LDFLAGS = ( "$(inherited)", "-ObjC", ); - PRODUCT_BUNDLE_IDENTIFIER = com.google.arcore.CloudAnchorExample; + PRODUCT_BUNDLE_IDENTIFIER = com.google.ARCloudAnchor; PRODUCT_NAME = "$(TARGET_NAME)"; - PROVISIONING_PROFILE_SPECIFIER = "Google Development"; + PROVISIONING_PROFILE_SPECIFIER = ""; + SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Release; @@ -337,25 +353,25 @@ /* End XCBuildConfiguration section */ /* Begin XCConfigurationList section */ - 0285F7ED208A82B900A7B463 /* Build configuration list for PBXProject "CloudAnchorExample" */ = { + 3E9E387A2C25E788004D131D /* Build configuration list for PBXProject "CloudAnchorExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - 0285F806208A82B900A7B463 /* Debug */, - 0285F807208A82B900A7B463 /* Release */, + 3E9E388B2C25E78A004D131D /* Debug */, + 3E9E388C2C25E78A004D131D /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; - 0285F808208A82B900A7B463 /* Build configuration list for PBXNativeTarget "CloudAnchorExample" */ = { + 3E9E388D2C25E78A004D131D /* Build configuration list for PBXNativeTarget "CloudAnchorExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - 0285F809208A82B900A7B463 /* Debug */, - 0285F80A208A82B900A7B463 /* Release */, + 3E9E388E2C25E78A004D131D /* Debug */, + 3E9E388F2C25E78A004D131D /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; /* End XCConfigurationList section */ }; - rootObject = 0285F7EA208A82B900A7B463 /* Project object */; + rootObject = 3E9E38772C25E788004D131D /* Project object */; } diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/ARViewContainer.swift b/Examples/CloudAnchorExample/CloudAnchorExample/ARViewContainer.swift new file mode 100644 index 0000000..9aae200 --- /dev/null +++ b/Examples/CloudAnchorExample/CloudAnchorExample/ARViewContainer.swift @@ -0,0 +1,144 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import Foundation +import RealityKit +import SwiftUI +import UIKit +import simd + +/// SwiftUI wrapper for an `ARView` and all rendering code. +struct ARViewContainer: UIViewRepresentable { + let manager: CloudAnchorManager + + /// Coordinator to act as `ARSessionDelegate` for `ARView`. + class Coordinator: NSObject, ARSessionDelegate { + private enum Constants { + /// Name of USDZ file to load Android model from. + static let andyName = "andy" + /// Material for rendered planes. + static let planeMaterial = UnlitMaterial( + color: UIColor(red: 0, green: 0, blue: 1, alpha: 0.7)) + } + + private let manager: CloudAnchorManager + private var hostedAnchorModel: Entity? + private var resolvedAnchorModel: Entity? + private var planeModels: [UUID: ModelEntity] = [:] + + init(manager: CloudAnchorManager) { + self.manager = manager + super.init() + manager.arView.session.delegate = self + } + + private static func createAndyNode() -> Entity? { + return try? Entity.load(named: Constants.andyName) + } + + private static func createPlaneMesh(plane: ARPlaneAnchor) -> MeshResource? { + var descriptor = MeshDescriptor() + descriptor.positions = MeshBuffers.Positions(plane.geometry.vertices) + descriptor.primitives = .triangles(plane.geometry.triangleIndices.map { UInt32($0) }) + return try? MeshResource.generate(from: [descriptor]) + } + + private static func createPlaneModel(plane: ARPlaneAnchor) -> ModelEntity? { + guard let mesh = createPlaneMesh(plane: plane) else { + return nil + } + return ModelEntity(mesh: mesh, materials: [Constants.planeMaterial]) + } + + private static func updatePlaneModel(model: ModelEntity, plane: ARPlaneAnchor) { + guard let planeMesh = createPlaneMesh(plane: plane) else { + return + } + model.model?.mesh = planeMesh + } + + func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { + for anchor in anchors { + if anchor is AREnvironmentProbeAnchor { continue } + if let plane = (anchor as? ARPlaneAnchor) { + guard let model = Coordinator.createPlaneModel(plane: plane) else { continue } + planeModels[plane.identifier] = model + let anchorEntity = AnchorEntity(.anchor(identifier: anchor.identifier)) + anchorEntity.addChild(model) + manager.arView.scene.addAnchor(anchorEntity) + continue + } + guard let model = Coordinator.createAndyNode() else { continue } + hostedAnchorModel = model + let anchorEntity = AnchorEntity(.anchor(identifier: anchor.identifier)) + anchorEntity.addChild(model) + manager.arView.scene.addAnchor(anchorEntity) + } + } + + func session(_ session: ARSession, didRemove anchors: [ARAnchor]) { + for anchor in anchors { + if anchor is AREnvironmentProbeAnchor { continue } + if let plane = (anchor as? ARPlaneAnchor) { + guard let model = planeModels.removeValue(forKey: plane.identifier) else { continue } + model.parent?.removeFromParent() + continue + } + hostedAnchorModel?.parent?.removeFromParent() + hostedAnchorModel = nil + } + } + + func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) { + for anchor in anchors { + guard let plane = (anchor as? ARPlaneAnchor) else { continue } + guard let model = planeModels[plane.identifier] else { continue } + Coordinator.updatePlaneModel(model: model, plane: plane) + } + } + + func session(_ session: ARSession, didUpdate frame: ARFrame) { + guard let garFrame = try? manager.garSession?.update(frame) else { return } + guard let garAnchor = garFrame.anchors.first else { + resolvedAnchorModel?.parent?.removeFromParent() + resolvedAnchorModel = nil + return + } + if resolvedAnchorModel == nil { + guard let model = Coordinator.createAndyNode() else { return } + resolvedAnchorModel = model + let anchorEntity = AnchorEntity(world: matrix_identity_float4x4) + anchorEntity.addChild(model) + manager.arView.scene.addAnchor(anchorEntity) + } + guard let resolvedAnchorModel else { return } + resolvedAnchorModel.transform = Transform(matrix: garAnchor.transform) + resolvedAnchorModel.isEnabled = (garAnchor.trackingState == .tracking) + } + } + + func makeUIView(context: Context) -> some UIView { + return manager.arView + } + + func updateUIView(_ uiView: UIViewType, context: Context) {} + + func makeCoordinator() -> Coordinator { + Coordinator(manager: manager) + } +} diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.h b/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.h deleted file mode 100644 index 3f70a98..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * Copyright 2018 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -@interface AppDelegate : UIResponder - -@property(strong, nonatomic) UIWindow *window; - -@end diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.m b/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.m deleted file mode 100644 index c71aab4..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.m +++ /dev/null @@ -1,54 +0,0 @@ -/* - * Copyright 2018 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "AppDelegate.h" - -#import "ExampleViewController.h" - -#import - - -@interface AppDelegate () - -@end - -@implementation AppDelegate - -- (BOOL)application:(UIApplication *)application - didFinishLaunchingWithOptions:(NSDictionary *)launchOptions { - [UIApplication sharedApplication].idleTimerDisabled = YES; - - self.window = [[UIWindow alloc] init]; - - [FIRApp configure]; - - UIStoryboard *storyBoard = - [UIStoryboard storyboardWithName:@"Main" bundle:nil]; - ExampleViewController *viewController = - [storyBoard instantiateInitialViewController]; - self.window.rootViewController = viewController; - - [self.window makeKeyAndVisible]; - - return YES; -} - -- (UIInterfaceOrientationMask)application:(UIApplication *)application - supportedInterfaceOrientationsForWindow:(UIWindow *)window { - return UIInterfaceOrientationMaskPortrait; -} - -@end diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.swift b/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.swift new file mode 100644 index 0000000..3d293b8 --- /dev/null +++ b/Examples/CloudAnchorExample/CloudAnchorExample/AppDelegate.swift @@ -0,0 +1,31 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import FirebaseCore +import UIKit + +/// Application delegate needed for Firebase integration with SwiftUI. See +/// https://firebase.google.com/docs/database/ios/start#set_up. +class AppDelegate: UIResponder, UIApplicationDelegate { + + func application( + _ application: UIApplication, + didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]? = nil + ) -> Bool { + FirebaseApp.configure() + return true + } +} diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/Assets.xcassets/AppIcon.appiconset/Contents.json b/Examples/CloudAnchorExample/CloudAnchorExample/Assets.xcassets/AppIcon.appiconset/Contents.json deleted file mode 100644 index d8db8d6..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/Assets.xcassets/AppIcon.appiconset/Contents.json +++ /dev/null @@ -1,98 +0,0 @@ -{ - "images" : [ - { - "idiom" : "iphone", - "size" : "20x20", - "scale" : "2x" - }, - { - "idiom" : "iphone", - "size" : "20x20", - "scale" : "3x" - }, - { - "idiom" : "iphone", - "size" : "29x29", - "scale" : "2x" - }, - { - "idiom" : "iphone", - "size" : "29x29", - "scale" : "3x" - }, - { - "idiom" : "iphone", - "size" : "40x40", - "scale" : "2x" - }, - { - "idiom" : "iphone", - "size" : "40x40", - "scale" : "3x" - }, - { - "idiom" : "iphone", - "size" : "60x60", - "scale" : "2x" - }, - { - "idiom" : "iphone", - "size" : "60x60", - "scale" : "3x" - }, - { - "idiom" : "ipad", - "size" : "20x20", - "scale" : "1x" - }, - { - "idiom" : "ipad", - "size" : "20x20", - "scale" : "2x" - }, - { - "idiom" : "ipad", - "size" : "29x29", - "scale" : "1x" - }, - { - "idiom" : "ipad", - "size" : "29x29", - "scale" : "2x" - }, - { - "idiom" : "ipad", - "size" : "40x40", - "scale" : "1x" - }, - { - "idiom" : "ipad", - "size" : "40x40", - "scale" : "2x" - }, - { - "idiom" : "ipad", - "size" : "76x76", - "scale" : "1x" - }, - { - "idiom" : "ipad", - "size" : "76x76", - "scale" : "2x" - }, - { - "idiom" : "ipad", - "size" : "83.5x83.5", - "scale" : "2x" - }, - { - "idiom" : "ios-marketing", - "size" : "1024x1024", - "scale" : "1x" - } - ], - "info" : { - "version" : 1, - "author" : "xcode" - } -} \ No newline at end of file diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/LaunchScreen.storyboard b/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/LaunchScreen.storyboard deleted file mode 100644 index f82e5e9..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/LaunchScreen.storyboard +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/Main.storyboard b/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/Main.storyboard deleted file mode 100644 index 1640d55..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/Base.lproj/Main.storyboard +++ /dev/null @@ -1,138 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorExampleApp.swift b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorExampleApp.swift new file mode 100644 index 0000000..7ca5f31 --- /dev/null +++ b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorExampleApp.swift @@ -0,0 +1,30 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +@main +struct CloudAnchorExampleApp: App { + // Needed for Firebase integration with SwiftUI. See + // https://firebase.google.com/docs/database/ios/start#set_up. + @UIApplicationDelegateAdaptor(AppDelegate.self) var delegate + + var body: some Scene { + WindowGroup { + ContentView() + } + } +} diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.h b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.h deleted file mode 100644 index 15d7407..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.h +++ /dev/null @@ -1,141 +0,0 @@ -/* - * Copyright 2019 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import -#import - -@class CloudAnchorManager; -@class GARAnchor; -@class GARFrame; -@class GARHostCloudAnchorFuture; -@class GARResolveCloudAnchorFuture; -@class GARSession; - -typedef NS_ENUM(NSInteger, GARCloudAnchorState); - -NS_ASSUME_NONNULL_BEGIN - -/** - * Delegate for receiving callbacks from a CloudAnchorManager and the underlying GARSession. All - * methods are optional. - */ -@protocol CloudAnchorManagerDelegate - -/** - * Invoked after the ARSessionDelegate:session:didUpdateFrame: method was called on the - * CloudAnchorManager, updated with the GARFrame generated by GARSession#update:error: - * - * @param manager The CloudAnchorManager which received the selector. - * @param garFrame The GARFrame object generated by GARSession using the ARFrame. - * @param error The error information. - */ -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - didUpdateFrame:(GARFrame *)garFrame - error:(NSError *)error; - -/** - * Invoked after a call to CloudAnchorManager#createRoom was successful. - * - * @param manager The CloudAnchorManager which received CloudAnchorManager#createRoom. - * @param roomCode The code for the room which was created. - */ -- (void)cloudAnchorManager:(CloudAnchorManager *)manager createdRoom:(NSString *)roomCode; - -/** - * Invoked after a call to CloudAnchorManager:createRoom failed. - * - * @param manager The CloudAnchorManager which received CloudAnchorManager#createRoom. - * @param error An NSError with information about what failed. - */ -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - failedToCreateRoomWithError:(NSError *)error; - -/** - * Invoked after a call to GARSession:resolveCloudAnchorWithIdentifier:completionHandler:error. - * - * @param manager The CloudAnchorManager which received CloudAnchorManager#createRoom. - * @param future The future for the async resolve operation, or nil if there was an error. - * @param error An NSError with information about what failed, or nil if there was no error. - */ -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - startedResolvingCloudAnchor:(nullable GARResolveCloudAnchorFuture *)future - error:(nullable NSError *)error; - -@end - -@interface CloudAnchorManager : NSObject - -@property(nonatomic, weak) id delegate; - -- (instancetype)initWithARSceneView:(ARSCNView *)scnView; - -/** - * Attempt to create a room with an unused room code. Results in either - * cloudAnchorManager:createdRoom or cloudAnchorManager:failedToCreateRoomWithError: being called. - */ -- (void)createRoom; - -/** - * Store the cloud anchor identifier corresponding to the passed GARAnchor in firebase under the - * passed room code. - * - * @param roomCode A room code used to store information about cloud anchors in firebase. - * @param anchor The anchor to be mapped to the given room code in firebase. - */ -- (void)updateRoom:(NSString *)roomCode withAnchorId:(NSString *)anchorId; - -/** - * Attempt to resolve the last hosted anchor for the given room code. If there is a cloud anchor - * id for the room code, the completion block will be called with a stub while the cloud anchor is - * resolved. - * - * @param roomCode A room code used to store information about cloud anchors in firebase. - * @param completion Callback to invoke when the anchor has finished resolving. - */ -- (void)resolveAnchorWithRoomCode:(NSString *)roomCode - completion:(void (^)(GARAnchor *_Nullable, GARCloudAnchorState))completion; - -/** - * Stop observing firebase messages related to the given room code. - * - * @param roomCode A room code used to store information about cloud anchors in firebase. - */ -- (void)stopResolvingAnchorWithRoomCode:(NSString *)roomCode; - -/** - * Host a Cloud Anchor corresponding to the given ARAnchor. - * - * @param arAnchor An ARAnchor object to be hosted within the hotspot generated by the session. - * @param completion Callback to invoke when the anchor has finished hosting. - * @param error A return address which an error will be written to, if one occurs. - * - * @return The hosting future, or `nil` if there is an error. - */ -- (GARHostCloudAnchorFuture *)hostCloudAnchor:(ARAnchor *)arAnchor - completion:(void (^)(NSString *_Nullable, - GARCloudAnchorState))completion - error:(NSError **)error; - -/** - * Remove the passed GARAnchor from the underlying GARSession - * - * @param anchor A GARAnchor object to be removed. - */ -- (void)removeAnchor:(GARAnchor *)anchor; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.m b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.m deleted file mode 100644 index 76efc68..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.m +++ /dev/null @@ -1,238 +0,0 @@ -/* - * Copyright 2019 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "CloudAnchorManager.h" - -#import - -#import -#import - -@interface CloudAnchorManager () - -// A SCNView which has an ARSession. Used to receive delegate messages and update the GARSession. -@property(nonatomic, weak) ARSCNView *sceneView; - -// A GARSession which is used to host and resolve cloud anchors. Delegate methods are called on the -// delegate of the class instance. -@property(nonatomic, strong) GARSession *gSession; - -// A FIRDatabaseReference used to record information about rooms and cloud anchors. -@property(nonatomic, strong) FIRDatabaseReference *firebaseReference; - -@end - -@implementation CloudAnchorManager - -- (instancetype)initWithARSceneView:(id)sceneView { - if ((self = [super init])) { - _sceneView = sceneView; - _sceneView.session.delegate = self; - - _firebaseReference = [[FIRDatabase database] reference]; - - NSError *error = nil; - - _gSession = [GARSession sessionWithAPIKey:@"your-api-key" bundleIdentifier:nil error:&error]; - - if (_gSession == nil) { - NSString *alertWindowTitle = @"A fatal error occurred. Will disable the UI interaction."; - NSString *alertMessage = - [NSString stringWithFormat:@"Failed to create session. Error description: %@", - [error localizedDescription]]; - [self popupAlertWindowOnError:alertWindowTitle alertMessage:alertMessage]; - return nil; - } - - GARSessionConfiguration *configuration = [[GARSessionConfiguration alloc] init]; - configuration.cloudAnchorMode = GARCloudAnchorModeEnabled; - [_gSession setConfiguration:configuration error:&error]; - - if (error) { - NSString *alertWindowTitle = @"A fatal error occurred. Will disable the UI interaction."; - NSString *alertMessage = - [NSString stringWithFormat:@"Failed to configure session. Error description: %@", - [error localizedDescription]]; - [self popupAlertWindowOnError:alertWindowTitle alertMessage:alertMessage]; - return nil; - } - } - return self; -} - -#pragma mark - ARSessionDelegate - -- (void)session:(ARSession *)session didUpdateFrame:(ARFrame *)frame { - // Forward ARKit's update to ARCore session - NSError *error = nil; - GARFrame *garFrame = [self.gSession update:frame error:&error]; - - // Error in frame update is not fatal. We pass error information to delegate. - // Pass message to delegate for state management - [self.delegate cloudAnchorManager:self didUpdateFrame:garFrame error:error]; -} - -#pragma mark - Public - -- (void)createRoom { - __weak CloudAnchorManager *weakSelf = self; - [[self.firebaseReference child:@"last_room_code"] - runTransactionBlock:^FIRTransactionResult *(FIRMutableData *currentData) { - CloudAnchorManager *strongSelf = weakSelf; - - NSNumber *roomNumber = currentData.value; - - if (!roomNumber || [roomNumber isEqual:[NSNull null]]) { - roomNumber = @0; - } - - NSInteger roomNumberInt = [roomNumber integerValue]; - roomNumberInt++; - NSNumber *newRoomNumber = [NSNumber numberWithInteger:roomNumberInt]; - - long long timestampInteger = (long long)([[NSDate date] timeIntervalSince1970] * 1000); - NSNumber *timestamp = [NSNumber numberWithLongLong:timestampInteger]; - - NSDictionary *room = @{ - @"display_name" : [newRoomNumber stringValue], - @"updated_at_timestamp" : timestamp, - }; - - [[[strongSelf.firebaseReference child:@"hotspot_list"] child:[newRoomNumber stringValue]] - setValue:room]; - - currentData.value = newRoomNumber; - - return [FIRTransactionResult successWithValue:currentData]; - } andCompletionBlock:^(NSError * _Nullable error, - BOOL committed, - FIRDataSnapshot * _Nullable snapshot) { - CloudAnchorManager *strongSelf = weakSelf; - if (strongSelf == nil) { - return; - } - - if (error) { - NSString *alertWindowTitle = @"An error occurred"; - NSString *alertMessage = - [NSString stringWithFormat:@"CloudAnchorManager:createRoom: Error description: %@", - [error localizedDescription]]; - [self popupAlertWindowOnError:alertWindowTitle alertMessage:alertMessage]; - - [strongSelf.delegate cloudAnchorManager:strongSelf failedToCreateRoomWithError:error]; - } else { - [strongSelf.delegate cloudAnchorManager:strongSelf - createdRoom:[(NSNumber *)snapshot.value stringValue]]; - } - }]; -} - -- (void)updateRoom:(NSString *)roomCode withAnchorId:(NSString *)anchorId { - [[[[self.firebaseReference child:@"hotspot_list"] child:roomCode] child:@"hosted_anchor_id"] - setValue:anchorId]; - long long timestampInteger = (long long)([[NSDate date] timeIntervalSince1970] * 1000); - NSNumber *timestamp = [NSNumber numberWithLongLong:timestampInteger]; - [[[[self.firebaseReference child:@"hotspot_list"] child:roomCode] child:@"updated_at_timestamp"] - setValue:timestamp]; -} - -- (void)doResolveAnchor:(FIRDataSnapshot *)snapshot - roomCode:(NSString *)roomCode - completion:(void (^)(GARAnchor *, GARCloudAnchorState))completion { - NSString *anchorId = nil; - if ([snapshot.value isKindOfClass:[NSDictionary class]]) { - NSDictionary *value = (NSDictionary *)snapshot.value; - anchorId = (NSString *)value[@"hosted_anchor_id"]; - } - - if (anchorId) { - [[[self.firebaseReference child:@"hotspot_list"] child:roomCode] removeAllObservers]; - - // Now that we have the anchor ID from firebase, we resolve the anchor. - NSError *error = nil; - GARResolveCloudAnchorFuture *garFuture = - [self.gSession resolveCloudAnchorWithIdentifier:anchorId - completionHandler:completion - error:&error]; - - // Synchronous failure. - if (garFuture == nil) { - NSString *alertWindowTitle = @"An error occurred"; - NSString *alertMessage = [NSString - stringWithFormat:@"Error resolving cloud anchor: %@", [error localizedDescription]]; - [self popupAlertWindowOnError:alertWindowTitle alertMessage:alertMessage]; - } - - // Pass message to delegate for state management - [self.delegate cloudAnchorManager:self startedResolvingCloudAnchor:garFuture error:error]; - } -} - -- (void)resolveAnchorWithRoomCode:(NSString *)roomCode - completion:(void (^)(GARAnchor *, GARCloudAnchorState))completion { - __weak CloudAnchorManager *weakSelf = self; - [[[self.firebaseReference child:@"hotspot_list"] child:roomCode] - observeEventType:FIRDataEventTypeValue - withBlock:^(FIRDataSnapshot *_Nonnull snapshot) { - [weakSelf doResolveAnchor:snapshot roomCode:roomCode completion:completion]; - }]; -} - -- (void)stopResolvingAnchorWithRoomCode:(NSString *)roomCode { - [[[self.firebaseReference child:@"hotspot_list"] child:roomCode] removeAllObservers]; -} - -- (GARHostCloudAnchorFuture *)hostCloudAnchor:(ARAnchor *)arAnchor - completion:(void (^)(NSString *, GARCloudAnchorState))completion - error:(NSError **)error { - return [self.gSession hostCloudAnchor:arAnchor - TTLDays:1 - completionHandler:completion - error:error]; -} - -- (void)removeAnchor:(GARAnchor *)anchor { - [self.gSession removeAnchor:anchor]; -} - -- (void)popupAlertWindowOnError:(NSString *)alertWindowTitle alertMessage:(NSString *)alertMessage { - dispatch_async(dispatch_get_main_queue(), ^{ - UIAlertController *alert = - [UIAlertController alertControllerWithTitle:alertWindowTitle - message:alertMessage - preferredStyle:UIAlertControllerStyleAlert]; - - UIAlertAction *defaultAction = [UIAlertAction actionWithTitle:@"OK" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action){ - }]; - - [alert addAction:defaultAction]; - - id rootViewController = [UIApplication sharedApplication].delegate.window.rootViewController; - if ([rootViewController isKindOfClass:[UINavigationController class]]) { - rootViewController = - ((UINavigationController *)rootViewController).viewControllers.firstObject; - } - if ([rootViewController isKindOfClass:[UITabBarController class]]) { - rootViewController = ((UITabBarController *)rootViewController).selectedViewController; - } - - [rootViewController presentViewController:alert animated:YES completion:nil]; - }); -} - -@end diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.swift b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.swift new file mode 100644 index 0000000..6a90528 --- /dev/null +++ b/Examples/CloudAnchorExample/CloudAnchorExample/CloudAnchorManager.swift @@ -0,0 +1,371 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import AVFoundation +import Combine +import CoreGraphics +import FirebaseDatabase +import Foundation +import RealityKit + +/// Model object for hosting and resolving Cloud Anchors. +class CloudAnchorManager: ObservableObject { + private enum Constants { + /// Fill in your own API Key here. + static let apiKey = "your-api-key" + /// The starting message when neither hosting nor resolving. + static let startingMessage = "Tap HOST or RESOLVE to begin." + /// Message to display if resolving is taking longer than expected. + static let stillResolvingMessage = + "Still resolving the anchor. Please make sure you're looking at where the Cloud Anchor was " + + "hosted. Or, try to re-join the room." + /// User defaults key for storing privacy notice acceptance. + static let privacyNoticeUserDefaultsKey = "PrivacyNoticeAccepted" + /// Show a message if resolving takes too long. + static let resolveTimerDelay: TimeInterval = 10 + /// Firebase Database key for the list of rooms. + static let hotspotListKey = "hotspot_list" + /// Firebase Database key for the Cloud Anchor ID. + static let anchorIdKey = "hosted_anchor_id" + /// Firebase Database key for the timestamp when the room was last updated. + static let updatedAtKey = "updated_at_timestamp" + /// Firebase Database key for the most recently added room code as a number. + static let lastRoomKey = "last_room_code" + /// Firebase Database key for the room code of the room as a string. + static let displayNameKey = "display_name" + } + + @Published var hosting = false + @Published var resolving = false + @Published var roomCode = "" + @Published var message = Constants.startingMessage + @Published var showPrivacyNotice = false + @Published var showCameraPermissionDeniedAlert = false + @Published var showRoomCodeDialog = false + @Published var roomCodeDialogField = "" + @Published var showErrorAlert = false + @Published var errorAlertTitle = "" + @Published var errorAlertMessage = "" + @Published var fatalError = false + + // Don't run the `ARSession` until we deliberately call `maybeRunSession()`. + let arView = ARView(frame: .zero, cameraMode: .ar, automaticallyConfigureSession: false) + var garSession: GARSession? + private let reference = Database.database().reference() + private var roomChild: DatabaseReference { + return reference.child(Constants.hotspotListKey).child(roomCode) + } + + private var sessionRunning = false + private var resolveOnChecksPassed = false + + private var hostedAnchor: ARAnchor? + private var hostFuture: GARHostCloudAnchorFuture? + private var resolveFuture: GARResolveCloudAnchorFuture? + private var resolveTimer: Timer? + + init() { + do { + garSession = try GARSession(apiKey: Constants.apiKey, bundleIdentifier: nil) + } catch { + showErrorAlert("Failed to create the GARSession: \(error)", fatal: true) + return + } + let configuration = GARSessionConfiguration() + configuration.cloudAnchorMode = .enabled + var error: NSError? = nil + garSession?.setConfiguration(configuration, error: &error) + if let error { + showErrorAlert("Failed to configure the GARSession: \(error)", fatal: true) + } + } + + /// Runs the `ARSession` if it isn't running already. + private func maybeRunSession() { + guard !sessionRunning else { return } + let configuration = ARWorldTrackingConfiguration() + configuration.worldAlignment = .gravity + configuration.planeDetection = .horizontal + arView.session.run(configuration) + sessionRunning = true + } + + /// Shows an error popup with a custom error message. + /// + /// - Parameters + /// - errorAlertMessage: The message to display in the alert. + /// - fatal: If `true`, all UI interaction will be disabled. + private func showErrorAlert(_ errorAlertMessage: String, fatal: Bool = false) { + errorAlertTitle = fatal ? "Fatal error occurred" : "An error occurred" + self.errorAlertMessage = errorAlertMessage + showErrorAlert = true + if fatal { + fatalError = true + message = errorAlertTitle + } + } + + /// Resets all hosting and resolving state so the user can start over. + private func reset() { + // Reset hosting state. + hostFuture?.cancel() + hostFuture = nil + if let hostedAnchor { + arView.session.remove(anchor: hostedAnchor) + self.hostedAnchor = nil + } + + // Reset resolving state. + resolveFuture?.cancel() + if let garAnchor = resolveFuture?.resultAnchor { + garSession?.remove(garAnchor) + } + resolveFuture = nil + roomChild.removeAllObservers() + resolveTimer?.invalidate() + resolveTimer = nil + + // Reset UI state. + hosting = false + resolving = false + roomCode = "" + message = Constants.startingMessage + } + + /// Converts a `GARCloudAnchorState` enum to a string for display. + /// + /// - Parameter cloudState: The enum value to convert to a string. + private static func stringFromCloudState(_ cloudState: GARCloudAnchorState) -> String { + switch cloudState { + case .none: + return "None" + case .success: + return "Success" + case .errorInternal: + return "ErrorInternal" + case .errorNotAuthorized: + return "ErrorNotAuthorized" + case .errorResourceExhausted: + return "ErrorResourceExhausted" + case .errorHostingDatasetProcessingFailed: + return "ErrorHostingDatasetProcessingFailed" + case .errorCloudIdNotFound: + return "ErrorCloudIdNotFound" + case .errorResolvingSdkVersionTooNew: + return "ErrorResolvingSdkVersionTooNew" + case .errorResolvingSdkVersionTooOld: + return "ErrorResolvingSdkVersionTooOld" + case .errorHostingServiceUnavailable: + return "ErrorHostingServiceUnavailable" + default: + // Not handling deprecated enum values that will never be returned. + return "Unknown" + } + } + + /// Continues the flow after successfully obtaining or verifying that the privacy notice has + /// been accepted and the camera permission has been granted. + private func checksPassed() { + maybeRunSession() + if resolveOnChecksPassed { + roomCodeDialogField = "" + showRoomCodeDialog = true + } else { + host() + } + } + + /// Checks the camera permission, and requests if it wasn't previously granted or denied. + private func checkCameraPermission() { + switch AVCaptureDevice.authorizationStatus(for: .video) { + case .authorized: + checksPassed() + case .notDetermined: + AVCaptureDevice.requestAccess(for: .video) { [weak self] granted in + if granted { + self?.checksPassed() + } + } + default: + showCameraPermissionDeniedAlert = true + } + } + + /// Checks the acceptance of the privacy notice and granting of the camera permission. + private func checkPrivacyNoticeAndCameraPermission() { + if UserDefaults.standard.bool(forKey: Constants.privacyNoticeUserDefaultsKey) { + checkCameraPermission() + } else { + showPrivacyNotice = true + } + } + + /// Called when the user taps on the button to accept the privacy notice. Records this in + /// `UserDefaults` and checks the camera permission. + func privacyNoticeAccepted() { + UserDefaults.standard.setValue(true, forKey: Constants.privacyNoticeUserDefaultsKey) + checkCameraPermission() + } + + /// Called when the user taps the HOST/CANCEL button. If already hosting, cancels hosting. + /// Otherwise, proceeds to host after checking the privacy notice and camera permission. + func hostButtonPressed() { + if hosting { + reset() + } else { + resolveOnChecksPassed = false + checkPrivacyNoticeAndCameraPermission() + } + } + + /// Updates the UI and Firebase when the hosting operation finishes. + /// + /// - Parameters + /// - cloudId: The newly created Cloud Anchor ID, if hosting was successful. + /// - cloudState: The result enum. + private func finishHosting(cloudId: String?, cloudState: GARCloudAnchorState) { + message = "Finished hosting: \(CloudAnchorManager.stringFromCloudState(cloudState))" + guard let cloudId else { return } + // Store new Cloud Anchor ID in room. + roomChild.child(Constants.anchorIdKey).setValue(cloudId) + let timestamp = Int(Date().timeIntervalSince1970 * 1000) + roomChild.child(Constants.updatedAtKey).setValue(NSNumber(integerLiteral: timestamp)) + } + + /// Called when the user taps a point on the `ARView`. In the appropriate state, places an + /// anchor by raycasting to hit a plane, and then attempt to host the anchor. + /// + /// - Parameter point: The point that was tapped within the `ARView`'s coordinate space. + func tapPoint(point: CGPoint) { + guard hosting, !roomCode.isEmpty, hostFuture == nil else { return } + // Prefer existing planes to estimated ones. + let results = + arView.raycast(from: point, allowing: .existingPlaneGeometry, alignment: .horizontal) + + arView.raycast(from: point, allowing: .estimatedPlane, alignment: .horizontal) + guard let result = results.first else { return } + let anchor = ARAnchor(transform: result.worldTransform) + do { + hostFuture = try garSession?.hostCloudAnchor(anchor, ttlDays: 1) { + [weak self] cloudId, cloudState in + self?.finishHosting(cloudId: cloudId, cloudState: cloudState) + } + } catch { + showErrorAlert("Failed to host anchor: \(error)") + reset() + return + } + hostedAnchor = anchor + arView.session.add(anchor: anchor) + message = "Hosting anchor..." + } + + /// Starts the hosting process by creating a room code. + private func host() { + hosting = true + message = "Creating room..." + reference.child(Constants.lastRoomKey).runTransactionBlock { mutableData in + // Add one to previous last room code. + var roomNumber = (mutableData.value as? NSNumber)?.intValue ?? 0 + roomNumber += 1 + let timestamp = Int(Date().timeIntervalSince1970 * 1000) + let room = + [ + Constants.displayNameKey: "\(roomNumber)", + Constants.updatedAtKey: NSNumber(integerLiteral: timestamp), + ] as NSDictionary + // Add room for new room code, with anchor ID not filled in. + self.reference.child(Constants.hotspotListKey).child("\(roomNumber)").setValue(room) + // Increment stored last room code. + mutableData.value = NSNumber(integerLiteral: roomNumber) + return .success(withValue: mutableData) + } andCompletionBlock: { error, committed, snapshot in + guard let value = (snapshot?.value as? NSNumber) else { + self.showErrorAlert("Failed to create room: \(error?.localizedDescription ?? "")") + self.reset() + return + } + self.roomCode = value.stringValue + self.message = "Tap on a plane to create anchor and host." + } + } + + /// Called when the user taps the RESOLVE/CANCEL button. If already resolving, cancels + /// resolving. Otherwise, proceeds to ask the user for the room code after checking the privacy + /// notice and camera permission. + func resolveButtonPressed() { + if resolving { + reset() + } else { + resolveOnChecksPassed = true + checkPrivacyNoticeAndCameraPermission() + } + } + + /// Called when the user accepts the entered room code. Calls `resolve()`. + func roomCodeEntered() { + if !roomCodeDialogField.isEmpty { + resolve() + } + } + + /// Updates the UI after the resolving process finishes. + /// + /// - Parameter cloudState: The result enum. + private func finishResolving(cloudState: GARCloudAnchorState) { + message = "Finished resolving: \(CloudAnchorManager.stringFromCloudState(cloudState))" + resolveTimer?.invalidate() + resolveTimer = nil + } + + /// Attempts to resolve the anchor after fetching the ID from Firebase. + /// + /// - Parameter snapshot: Snapshot of room node. + private func resolve(snapshot: DataSnapshot) { + guard let value = (snapshot.value as? [String: Any]), + let anchorId = (value[Constants.anchorIdKey] as? String) + else { + self.showErrorAlert("Failed to fetch anchor ID from room code") + self.reset() + return + } + do { + self.resolveFuture = try self.garSession?.resolveCloudAnchor(anchorId) { + [weak self] anchor, cloudState in + self?.finishResolving(cloudState: cloudState) + } + } catch { + self.showErrorAlert("Failed to resolve anchor: \(error)") + self.reset() + } + } + + /// Starts the resolving process by fetching the anchor ID from Firebase. + private func resolve() { + resolving = true + roomCode = roomCodeDialogField + message = "Resolving anchor..." + resolveTimer = Timer.scheduledTimer( + withTimeInterval: Constants.resolveTimerDelay, repeats: false + ) { [weak self] timer in + self?.message = Constants.stillResolvingMessage + } + roomChild.observeSingleEvent(of: .value) { [weak self] snapshot in + self?.resolve(snapshot: snapshot) + } + } +} diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/ContentView.swift b/Examples/CloudAnchorExample/CloudAnchorExample/ContentView.swift new file mode 100644 index 0000000..e481401 --- /dev/null +++ b/Examples/CloudAnchorExample/CloudAnchorExample/ContentView.swift @@ -0,0 +1,113 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +/// View for hosting and resolving Cloud Anchors. +struct ContentView: View { + @StateObject private var manager = CloudAnchorManager() + + var body: some View { + ZStack { + ARViewContainer(manager: manager) + .ignoresSafeArea() + .onTapGesture { manager.tapPoint(point: $0) } + VStack { + HStack { + Button { + manager.hostButtonPressed() + } label: { + Text(manager.hosting && !manager.roomCode.isEmpty ? "CANCEL" : "HOST") + .padding(.vertical) + .padding(.horizontal) + .contentShape(Rectangle()) + } + .disabled(manager.resolving || (manager.hosting && manager.roomCode.isEmpty)) + Button { + manager.resolveButtonPressed() + } label: { + Text(manager.resolving ? "CANCEL" : "RESOLVE") + .padding(.vertical) + .padding(.horizontal) + .contentShape(Rectangle()) + } + .disabled(manager.hosting) + Spacer() + ZStack { + Rectangle() + .frame(width: 120, height: 40) + .background(.ultraThinMaterial) + Text(" Room: \(manager.roomCode)") + .foregroundStyle(.white) + .frame(width: 120, height: 40, alignment: .leading) + } + } + Spacer() + ZStack { + Rectangle() + .frame(height: 100, alignment: .bottom) + .background(.ultraThinMaterial) + Text(manager.message) + .foregroundStyle(.white) + .lineLimit(3) + .frame(maxWidth: .infinity, alignment: .leading) + .padding() + } + } + .ignoresSafeArea(edges: .bottom) + } + .disabled(manager.fatalError) + .alert("Experience it together", isPresented: $manager.showPrivacyNotice) { + Button(role: .destructive) { + manager.privacyNoticeAccepted() + } label: { + Text("Start now") + } + Link("Learn more", destination: URL(string: "https://developers.google.com/ar/data-privacy")!) + Button(role: .cancel) { + } label: { + Text("Not now") + } + } message: { + Text("To power this session, Google will process visual data from your camera.") + } + .alert("ENTER ROOM CODE", isPresented: $manager.showRoomCodeDialog) { + TextField("", text: $manager.roomCodeDialogField).keyboardType(.numberPad) + Button(role: .destructive) { + manager.roomCodeEntered() + } label: { + Text("OK") + } + Button(role: .cancel) { + } label: { + Text("CANCEL") + } + } + .alert("Camera permission required", isPresented: $manager.showCameraPermissionDeniedAlert) { + } message: { + Text( + "Camera permission has been denied or restricted. Please fix by going to the Settings app.") + } + .alert(manager.errorAlertTitle, isPresented: $manager.showErrorAlert) { + } message: { + Text(manager.errorAlertMessage) + } + } +} + +#Preview { + ContentView() +} diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.h b/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.h deleted file mode 100644 index ac3ed3f..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.h +++ /dev/null @@ -1,32 +0,0 @@ -/* - * Copyright 2018 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import -#import -#import - -@interface ExampleViewController : UIViewController - -@property(nonatomic, strong) IBOutlet ARSCNView *sceneView; -@property(nonatomic, strong) IBOutlet UIButton *hostButton; -@property(nonatomic, strong) IBOutlet UIButton *resolveButton; -@property(nonatomic, strong) IBOutlet UILabel *roomCodeLabel; -@property(nonatomic, strong) IBOutlet UILabel *messageLabel; - -- (IBAction)hostButtonPressed; -- (IBAction)resolveButtonPressed; - -@end diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.m b/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.m deleted file mode 100644 index dcd2bbc..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/ExampleViewController.m +++ /dev/null @@ -1,540 +0,0 @@ -/* - * Copyright 2018 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "ExampleViewController.h" - -#import "CloudAnchorManager.h" - -#import - -#import -#import -#import - -#import - -typedef NS_ENUM(NSInteger, HelloARState) { - HelloARStateDefault, - HelloARStateCreatingRoom, - HelloARStateRoomCreated, - HelloARStateHosting, - HelloARStateHostingFinished, - HelloARStateEnterRoomCode, - HelloARStateResolving, - HelloARStateResolvingFinished, - HelloARStateCloudAnchorManagerInitFail -}; - -static NSString * const kPrivacyNoticeKey = @"PrivacyNoticeAccepted"; -static NSString * const kPrivacyAlertTitle = @"Experience it together"; -static NSString * const kPrivacyAlertMessage = @"To power this session, Google will process visual " - "data from your camera."; -static NSString * const kPrivacyAlertContinueButtonText = @"Start now"; -static NSString * const kPrivacyAlertLearnMoreButtonText = @"Learn more"; -static NSString * const kPrivacyAlertBackButtonText = @"Not now"; -static NSString * const kPrivacyAlertLinkURL = - @"https://developers.google.com/ar/data-privacy"; - -@interface ExampleViewController () - -@property(nonatomic, strong) ARAnchor *arAnchor; -@property(nonatomic, strong) GARAnchor *garAnchor; -@property(nonatomic, strong) NSTimer *resolveTimer; -// Node representing resolved GARAnchor. Updated when anchor changes. -@property(nonatomic, strong) SCNNode *resolvedAnchorNode; - -@property(nonatomic, assign) HelloARState state; - -@property(nonatomic, strong) NSString *roomCode; -@property(nonatomic, strong) NSString *message; - -@property(nonatomic, strong) GARResolveCloudAnchorFuture *resolveFuture; -@property(nonatomic, strong) GARHostCloudAnchorFuture *hostFuture; - -// Cloud Anchor Manager manages interaction between Firebase, GARSession, and ARSession. -@property(nonatomic, strong) CloudAnchorManager *cloudAnchorManager; - -@end - -@implementation ExampleViewController - -- (void)dealloc { - if (_resolveTimer) { - [_resolveTimer invalidate]; - } -} - -#pragma mark - Overriding UIViewController - -- (BOOL)prefersStatusBarHidden { - return YES; -} - -- (void)viewDidLoad { - [super viewDidLoad]; - - [self.messageLabel setNumberOfLines:3]; - - self.cloudAnchorManager = [[CloudAnchorManager alloc] initWithARSceneView:self.sceneView]; - if (self.cloudAnchorManager == nil) { - [self enterState:HelloARStateCloudAnchorManagerInitFail]; - return; - } - - self.cloudAnchorManager.delegate = self; - self.sceneView.delegate = self; - - [self enterState:HelloARStateDefault]; -} - -- (void)touchesEnded:(NSSet *)touches withEvent:(UIEvent *)event { - if (touches.count < 1 || self.state != HelloARStateRoomCreated) { - return; - } - - UITouch *touch = [[touches allObjects] firstObject]; - CGPoint touchLocation = [touch locationInView:self.sceneView]; - - NSArray *hitTestResults = - [self.sceneView hitTest:touchLocation - types:ARHitTestResultTypeExistingPlaneUsingExtent | - ARHitTestResultTypeEstimatedHorizontalPlane]; - - if (hitTestResults.count > 0) { - ARHitTestResult *result = [hitTestResults firstObject]; - [self addAnchorWithTransform:result.worldTransform]; - } -} - -#pragma mark - Anchor Hosting / Resolving - -- (void)handleResolveAnchor:(GARAnchor *)anchor cloudState:(GARCloudAnchorState)cloudState { - if (self.state != HelloARStateResolving) { - return; - } - if (cloudState == GARCloudAnchorStateSuccess) { - self.garAnchor = anchor; - self.resolvedAnchorNode = [self andyNode]; - self.resolvedAnchorNode.simdTransform = anchor.transform; - [self.sceneView.scene.rootNode addChildNode:self.resolvedAnchorNode]; - } - - [self enterState:HelloARStateResolvingFinished]; -} - -- (void)resolveAnchorWithRoomCode:(NSString *)roomCode { - self.roomCode = roomCode; - [self enterState:HelloARStateResolving]; - - __weak ExampleViewController *weakSelf = self; - [self.cloudAnchorManager - resolveAnchorWithRoomCode:roomCode - completion:^(GARAnchor *anchor, GARCloudAnchorState cloudState) { - [weakSelf handleResolveAnchor:anchor cloudState:cloudState]; - }]; -} - -- (void)handleHostAnchor:(NSString *)anchorId cloudState:(GARCloudAnchorState)cloudState { - if (self.state != HelloARStateHosting) { - return; - } - if (cloudState == GARCloudAnchorStateSuccess) { - [self.cloudAnchorManager updateRoom:self.roomCode withAnchorId:anchorId]; - } - [self enterState:HelloARStateHostingFinished]; -} - -- (void)addAnchorWithTransform:(matrix_float4x4)transform { - self.arAnchor = [[ARAnchor alloc] initWithTransform:transform]; - [self.sceneView.session addAnchor:self.arAnchor]; - - __weak ExampleViewController *weakSelf = self; - self.hostFuture = [self.cloudAnchorManager - hostCloudAnchor:self.arAnchor - completion:^(NSString *anchorId, GARCloudAnchorState cloudState) { - [weakSelf handleHostAnchor:anchorId cloudState:cloudState]; - } - error:nil]; - [self enterState:HelloARStateHosting]; -} - - -# pragma mark - Actions - -- (IBAction)hostButtonPressed { - if (self.state == HelloARStateDefault) { - __weak ExampleViewController *weakSelf = self; - [self checkPrivacyNotice:^(BOOL shouldContinue) { - if (shouldContinue) { - [weakSelf enterState:HelloARStateCreatingRoom]; - [weakSelf.cloudAnchorManager createRoom]; - } - }]; - } else { - [self enterState:HelloARStateDefault]; - } -} - -- (IBAction)resolveButtonPressed { - if (self.state == HelloARStateDefault) { - __weak ExampleViewController *weakSelf = self; - [self checkPrivacyNotice:^(BOOL shouldContinue) { - if (shouldContinue) { - [weakSelf enterState:HelloARStateEnterRoomCode]; - } - }]; - } else { - [self enterState:HelloARStateDefault]; - } -} - -#pragma mark - CloudAnchorManagerDelegate - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager createdRoom:(NSString *)roomCode { - self.roomCode = roomCode; - [self enterState:HelloARStateRoomCreated]; -} - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - failedToCreateRoomWithError:(NSError *)error { - [self enterState:HelloARStateDefault]; -} - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - didUpdateFrame:(GARFrame *)garFrame - error:(NSError *)error { - if (error) { - self.message = - [NSString stringWithFormat: - @"garFrame is returned as a nil in " - @"CloudAnchorManager:sessioin:session:didUpdateFrame: Error description: %@", - [error localizedDescription]]; - [self updateMessageLabel]; - return; - } - for (GARAnchor *garAnchor in garFrame.updatedAnchors) { - if ([garAnchor isEqual:self.garAnchor] && self.resolvedAnchorNode) { - self.resolvedAnchorNode.simdTransform = garAnchor.transform; - self.resolvedAnchorNode.hidden = !garAnchor.hasValidTransform; - } - } -} - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - startedResolvingCloudAnchor:(GARResolveCloudAnchorFuture *)future - error:(NSError *)error { - if (future) { - self.resolveFuture = future; - } else { - self.message = [NSString - stringWithFormat:@"Resolved Cloud Anchor returned nil" - @"GARSession:resolveCloudAnchorWithIdentifier Error description: %@", - [error localizedDescription]]; - [self updateMessageLabel]; - [self enterState:HelloARStateResolvingFinished]; - } -} - -# pragma mark - Helper Methods - -- (BOOL)privacyNoticeAccepted { - return [[NSUserDefaults standardUserDefaults] boolForKey:kPrivacyNoticeKey]; -} - -- (void)setPrivacyNoticeAccepted:(BOOL)accepted { - [[NSUserDefaults standardUserDefaults] setBool:accepted forKey:kPrivacyNoticeKey]; -} - -- (void)runSession { - ARWorldTrackingConfiguration *configuration = [[ARWorldTrackingConfiguration alloc] init]; - [configuration setWorldAlignment:ARWorldAlignmentGravity]; - [configuration setPlaneDetection:ARPlaneDetectionHorizontal]; - - [self.sceneView.session runWithConfiguration:configuration]; -} - -- (void)checkPrivacyNotice:(void (^)(BOOL shouldContinue))completion { - __weak ExampleViewController *weakSelf = self; - void (^innerCompletion)(BOOL shouldContinue) = ^(BOOL shouldContinue) { - if (shouldContinue) { - [weakSelf setPrivacyNoticeAccepted:YES]; - [weakSelf runSession]; - } - completion(shouldContinue); - }; - - if ([self privacyNoticeAccepted]) { - innerCompletion(YES); - return; - } - - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:kPrivacyAlertTitle - message:kPrivacyAlertMessage - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *okAction = - [UIAlertAction actionWithTitle:kPrivacyAlertContinueButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - innerCompletion(YES); - }]; - UIAlertAction *learnMoreAction = - [UIAlertAction actionWithTitle:kPrivacyAlertLearnMoreButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - [[UIApplication sharedApplication] openURL:[NSURL URLWithString:kPrivacyAlertLinkURL] - options:@{} - completionHandler:nil]; - innerCompletion(NO); - }]; - UIAlertAction *cancelAction = - [UIAlertAction actionWithTitle:kPrivacyAlertBackButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - innerCompletion(NO); - }]; - [alertController addAction:okAction]; - [alertController addAction:learnMoreAction]; - [alertController addAction:cancelAction]; - [self presentViewController:alertController animated:NO completion:^{}]; -} - -- (void)resolveTimerFired { - if (self.state == HelloARStateResolving) { - self.message = @"Still resolving the anchor. Please make sure you're looking at where the " - "Cloud Anchor was hosted. Or, try to re-join the room."; - [self updateMessageLabel]; - } -} - -- (void)updateMessageLabel { - [self.messageLabel setText:self.message]; - self.roomCodeLabel.text = [NSString stringWithFormat:@"Room: %@", self.roomCode]; -} - -- (void)toggleButton:(UIButton *)button enabled:(BOOL)enabled title:(NSString *)title { - button.enabled = enabled; - [button setTitle:title forState:UIControlStateNormal]; -} - -- (NSString *)cloudStateString:(GARCloudAnchorState)cloudState { - switch (cloudState) { - case GARCloudAnchorStateNone: - return @"None"; - case GARCloudAnchorStateSuccess: - return @"Success"; - case GARCloudAnchorStateErrorInternal: - return @"ErrorInternal"; - case GARCloudAnchorStateTaskInProgress: - return @"TaskInProgress"; - case GARCloudAnchorStateErrorNotAuthorized: - return @"ErrorNotAuthorized"; - case GARCloudAnchorStateErrorResourceExhausted: - return @"ErrorResourceExhausted"; - case GARCloudAnchorStateErrorHostingDatasetProcessingFailed: - return @"ErrorHostingDatasetProcessingFailed"; - case GARCloudAnchorStateErrorCloudIdNotFound: - return @"ErrorCloudIdNotFound"; - case GARCloudAnchorStateErrorResolvingSdkVersionTooNew: - return @"ErrorResolvingSdkVersionTooNew"; - case GARCloudAnchorStateErrorResolvingSdkVersionTooOld: - return @"ErrorResolvingSdkVersionTooOld"; - case GARCloudAnchorStateErrorHostingServiceUnavailable: - return @"ErrorHostingServiceUnavailable"; - default: - return @"Unknown"; - } -} - -- (void)showRoomCodeDialog { - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:@"ENTER ROOM CODE" - message:@"" - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *okAction = - [UIAlertAction actionWithTitle:@"OK" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - NSString *roomCode = alertController.textFields[0].text; - if ([roomCode length] == 0) { - [self enterState:HelloARStateDefault]; - } else { - [self resolveAnchorWithRoomCode:roomCode]; - } - }]; - UIAlertAction *cancelAction = - [UIAlertAction actionWithTitle:@"CANCEL" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - [self enterState:HelloARStateDefault]; - }]; - [alertController addTextFieldWithConfigurationHandler:^(UITextField *textField) { - textField.keyboardType = UIKeyboardTypeNumberPad; - }]; - [alertController addAction:okAction]; - [alertController addAction:cancelAction]; - [self presentViewController:alertController animated:NO completion:^{}]; -} - -- (void)enterState:(HelloARState)state { - switch (state) { - case HelloARStateCloudAnchorManagerInitFail: - [self toggleButton:self.hostButton enabled:NO title:@"HOST disabled"]; - [self toggleButton:self.resolveButton enabled:NO title:@"RESOLVE disabled"]; - break; - case HelloARStateDefault: - if (self.arAnchor) { - [self.sceneView.session removeAnchor:self.arAnchor]; - self.arAnchor = nil; - } - if (self.resolvedAnchorNode) { - [self.resolvedAnchorNode removeFromParentNode]; - self.resolvedAnchorNode = nil; - } - if (self.garAnchor) { - [self.cloudAnchorManager removeAnchor:self.garAnchor]; - self.garAnchor = nil; - } - if (self.state == HelloARStateCreatingRoom) { - self.message = @"Failed to create room. Tap HOST or RESOLVE to begin."; - } else { - self.message = @"Tap HOST or RESOLVE to begin."; - } - if (self.state == HelloARStateEnterRoomCode) { - [self dismissViewControllerAnimated:NO completion:^{}]; - } else if (self.state == HelloARStateResolving) { - [self.cloudAnchorManager stopResolvingAnchorWithRoomCode:self.roomCode]; - if (self.resolveTimer) { - [self.resolveTimer invalidate]; - self.resolveTimer = nil; - } - } - if (self.hostFuture) { - [self.hostFuture cancel]; - self.hostFuture = nil; - } - if (self.resolveFuture) { - [self.resolveFuture cancel]; - self.resolveFuture = nil; - } - [self toggleButton:self.hostButton enabled:YES title:@"HOST"]; - [self toggleButton:self.resolveButton enabled:YES title:@"RESOLVE"]; - self.roomCode = @""; - break; - case HelloARStateCreatingRoom: - self.message = @"Creating room..."; - [self toggleButton:self.hostButton enabled:NO title:@"HOST"]; - [self toggleButton:self.resolveButton enabled:NO title:@"RESOLVE"]; - break; - case HelloARStateRoomCreated: - self.message = @"Tap on a plane to create anchor and host."; - [self toggleButton:self.hostButton enabled:YES title:@"CANCEL"]; - [self toggleButton:self.resolveButton enabled:NO title:@"RESOLVE"]; - break; - case HelloARStateHosting: - self.message = @"Hosting anchor..."; - break; - case HelloARStateHostingFinished: - self.message = [NSString - stringWithFormat:@"Finished hosting: %@", - [self cloudStateString:self.hostFuture.resultCloudAnchorState]]; - break; - case HelloARStateEnterRoomCode: - [self showRoomCodeDialog]; - break; - case HelloARStateResolving: { - [self dismissViewControllerAnimated:NO completion:^{}]; - self.message = @"Resolving anchor..."; - [self toggleButton:self.hostButton enabled:NO title:@"HOST"]; - [self toggleButton:self.resolveButton enabled:YES title:@"CANCEL"]; - __weak ExampleViewController *weakSelf = self; - self.resolveTimer = [NSTimer scheduledTimerWithTimeInterval:10. - repeats:NO - block:^(NSTimer *timer) { - [weakSelf resolveTimerFired]; - }]; - } break; - case HelloARStateResolvingFinished: - if (self.resolveTimer) { - [self.resolveTimer invalidate]; - self.resolveTimer = nil; - } - self.message = [NSString - stringWithFormat:@"Finished resolving: %@", - [self cloudStateString:self.resolveFuture.resultCloudAnchorState]]; - break; - } - self.state = state; - [self updateMessageLabel]; -} - -// Helper method to generate an SCNNode with Android geometry. -- (SCNNode *)andyNode { - SCNScene *scene = [SCNScene sceneNamed:@"example.scnassets/andy.scn"]; - return [[scene rootNode] childNodeWithName:@"andy" recursively:NO]; -} - -#pragma mark - ARSCNViewDelegate - -- (nullable SCNNode *)renderer:(id)renderer - nodeForAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]] == NO) { - return [self andyNode]; - } else { - return [[SCNNode alloc] init]; - } -} - -- (void)renderer:(id)renderer - didAddNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - ARSCNPlaneGeometry *planeGeometry = - [ARSCNPlaneGeometry planeGeometryWithDevice:_sceneView.device]; - [planeGeometry updateFromPlaneGeometry:planeAnchor.geometry]; - planeGeometry.materials.firstObject.diffuse.contents = [UIColor colorWithRed:0.0f - green:0.0f - blue:1.0f - alpha:0.7f]; - SCNNode *planeNode = [SCNNode nodeWithGeometry:planeGeometry]; - - [node addChildNode:planeNode]; - } -} - -- (void)renderer:(id)renderer - didUpdateNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - SCNNode *planeNode = node.childNodes.firstObject; - [(ARSCNPlaneGeometry *)planeNode.geometry updateFromPlaneGeometry:planeAnchor.geometry]; - } -} - -- (void)renderer:(id)renderer - didRemoveNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - SCNNode *planeNode = node.childNodes.firstObject; - [planeNode removeFromParentNode]; - } -} - -@end diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/Info.plist b/Examples/CloudAnchorExample/CloudAnchorExample/Info.plist index 5b80460..40ba450 100644 --- a/Examples/CloudAnchorExample/CloudAnchorExample/Info.plist +++ b/Examples/CloudAnchorExample/CloudAnchorExample/Info.plist @@ -2,6 +2,8 @@ + CFBundleDevelopmentRegion + $(DEVELOPMENT_LANGUAGE) CFBundleDisplayName Cloud Anchor Example CFBundleExecutable @@ -22,10 +24,18 @@ NSCameraUsageDescription This application will use the camera for Augmented Reality. - UILaunchStoryboardName - LaunchScreen - UIMainStoryboardFile - Main + UIApplicationSceneManifest + + UIApplicationSupportsMultipleScenes + + UISceneConfigurations + + + UILaunchScreen + + UILaunchScreen + + UIRequiredDeviceCapabilities arm64 @@ -35,18 +45,17 @@ UIStatusBarHidden + UIRequiresFullScreen + UISupportedInterfaceOrientations UIInterfaceOrientationPortrait - UIInterfaceOrientationLandscapeLeft - UIInterfaceOrientationLandscapeRight UISupportedInterfaceOrientations~ipad UIInterfaceOrientationPortrait - UIInterfaceOrientationPortraitUpsideDown - UIInterfaceOrientationLandscapeLeft - UIInterfaceOrientationLandscapeRight + FirebaseAppDelegateProxyEnabled + diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/texture.png b/Examples/CloudAnchorExample/CloudAnchorExample/andy.usdz similarity index 55% rename from Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/texture.png rename to Examples/CloudAnchorExample/CloudAnchorExample/andy.usdz index 6aa50ec..134a08e 100644 Binary files a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/texture.png and b/Examples/CloudAnchorExample/CloudAnchorExample/andy.usdz differ diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.dae b/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.dae deleted file mode 100644 index 7238976..0000000 Binary files a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.dae and /dev/null differ diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.scn b/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.scn deleted file mode 100644 index adf90af..0000000 Binary files a/Examples/CloudAnchorExample/CloudAnchorExample/example.scnassets/andy.scn and /dev/null differ diff --git a/Examples/CloudAnchorExample/CloudAnchorExample/main.m b/Examples/CloudAnchorExample/CloudAnchorExample/main.m deleted file mode 100644 index cf42e29..0000000 --- a/Examples/CloudAnchorExample/CloudAnchorExample/main.m +++ /dev/null @@ -1,25 +0,0 @@ -/* - * Copyright 2018 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "AppDelegate.h" -#import - -int main(int argc, char *argv[]) { - @autoreleasepool { - return UIApplicationMain(argc, argv, nil, - NSStringFromClass([AppDelegate class])); - } -} diff --git a/Examples/CloudAnchorExample/Podfile b/Examples/CloudAnchorExample/Podfile index 24ccd6b..c756175 100644 --- a/Examples/CloudAnchorExample/Podfile +++ b/Examples/CloudAnchorExample/Podfile @@ -1,5 +1,5 @@ target 'CloudAnchorExample' use_frameworks! -platform :ios, '12.0' -pod 'ARCore/CloudAnchors', '~> 1.44.0' -pod 'Firebase/Database', '~> 8.0' +platform :ios, '17.0' +pod 'ARCore/CloudAnchors', '~> 1.45.0' +pod 'Firebase/Database', '>= 8.0' diff --git a/Examples/CloudAnchorExample/README b/Examples/CloudAnchorExample/README index 1e21040..b6b021d 100644 --- a/Examples/CloudAnchorExample/README +++ b/Examples/CloudAnchorExample/README @@ -5,7 +5,7 @@ More details are in: https://developers.google.com/ar/develop/ios/cloud-anchors/ 1) The sample app uses Firebase. See https://firebase.google.com/docs/ios/setup for setup instructions. Download the GoogleService-Info.plist file and place it next to Info.plist. Enable the ARCore API (https://console.cloud.google.com/apis/library/arcore) for your Google Cloud Platform project. -2) Modify CloudAnchorManager.m to use your API key (search for sessionWithAPIKey:). +2) Modify CloudAnchorManager.swift to use your API key (search for 'apiKey'). 3) Integrate with the ARCore and FirebaseDatabase SDKs (see below). 4) Change bundle ID, so that you can sign the app with your team. @@ -16,5 +16,5 @@ To integrate with ARCore and FirebaseDatabase using CocoaPods: To integrate with Swift Package Manager: 1) Open CloudAnchorExample.xcodeproj. 2) Follow instructions on https://developers.google.com/ar/develop/ios/enable-arcore#use_swift_package_manager to add the 'ARCoreCloudAnchors' product of the ARCore package. -3) Additionally, add the 'FirebaseDatabase' product of the Firebase package (hosted at +3) Additionally, add the 'FirebaseDatabaseSwift' product of the Firebase package (hosted at https://github.com/firebase/firebase-ios-sdk.git). Ensure 'Up to Next Major Version' is selected, and choose the latest release from https://github.com/firebase/firebase-ios-sdk/releases. \ No newline at end of file diff --git a/Examples/GeospatialExample/GeospatialExample.xcodeproj/project.pbxproj b/Examples/GeospatialExample/GeospatialExample.xcodeproj/project.pbxproj index 219513f..2e6ea42 100644 --- a/Examples/GeospatialExample/GeospatialExample.xcodeproj/project.pbxproj +++ b/Examples/GeospatialExample/GeospatialExample.xcodeproj/project.pbxproj @@ -3,94 +3,72 @@ archiveVersion = 1; classes = { }; - objectVersion = 50; + objectVersion = 56; objects = { /* Begin PBXBuildFile section */ - 3E1BD017268A5E39004480BC /* AppDelegate.m in Sources */ = {isa = PBXBuildFile; fileRef = 3E1BD016268A5E39004480BC /* AppDelegate.m */; }; - 3E1BD01D268A5E39004480BC /* ViewController.m in Sources */ = {isa = PBXBuildFile; fileRef = 3E1BD01C268A5E39004480BC /* ViewController.m */; }; - 3E1BD020268A5E39004480BC /* Main.storyboard in Resources */ = {isa = PBXBuildFile; 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+ DEVELOPMENT_TEAM = ""; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; + INFOPLIST_FILE = GeospatialExample/Info.plist; + INFOPLIST_KEY_NSCameraUsageDescription = "Camera permission is needed for AR mode."; + INFOPLIST_KEY_NSLocationWhenInUseUsageDescription = "Location permission is needed for geospatial localization."; + INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; + INFOPLIST_KEY_UILaunchScreen_Generation = YES; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = "arkit gps"; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UIStatusBarHidden = NO; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; LD_RUNPATH_SEARCH_PATHS = ( "$(inherited)", "@executable_path/Frameworks", ); + MARKETING_VERSION = 1.0; OTHER_LDFLAGS = ( "$(inherited)", "-ObjC", ); PRODUCT_BUNDLE_IDENTIFIER = com.google.ARGeospatial; PRODUCT_NAME = "$(TARGET_NAME)"; 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buildConfigurations = ( - 3E1BD02C268A5E3B004480BC /* Debug */, - 3E1BD02D268A5E3B004480BC /* Release */, + 3E209CEF2C40497000C4992C /* Debug */, + 3E209CF02C40497000C4992C /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; /* End XCConfigurationList section */ }; - rootObject = 3E1BD00A268A5E39004480BC /* Project object */; + rootObject = 3E209CD82C40496F00C4992C /* Project object */; } diff --git a/Examples/GeospatialExample/GeospatialExample/ARViewContainer.swift b/Examples/GeospatialExample/GeospatialExample/ARViewContainer.swift new file mode 100644 index 0000000..7a8b843 --- /dev/null +++ b/Examples/GeospatialExample/GeospatialExample/ARViewContainer.swift @@ -0,0 +1,244 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import RealityKit +import SwiftUI +import simd + +/// SwiftUI wrapper for an `ARView` and all rendering code. +struct ARViewContainer: UIViewRepresentable { + let manager: GeospatialManager + + /// Coordinator to act as `ARSessionDelegate` for `ARView`. + class Coordinator: NSObject, ARSessionDelegate { + private enum Constants { + /// Name of USDZ file to load Geospatial marker model from. + static let geospatialMarkerName = "geospatial_marker" + /// Material for terrain mesh. + static let terrainMaterial = UnlitMaterial( + color: UIColor(red: 0, green: 0.5, blue: 0, alpha: 0.7)) + /// Material for rendered planes. + static let planeMaterial = UnlitMaterial( + color: UIColor(red: 0, green: 0, blue: 1, alpha: 0.7)) + + static func textureName(anchorType: GeospatialManager.AnchorType) -> String { + return anchorType == .geospatial ? "spatial-marker-baked" : "spatial-marker-yellow" + } + + static func randomBuildingMaterial() -> UnlitMaterial { + let colors = [ + UIColor(red: 0.7, green: 0, blue: 0.7, alpha: 0.8), + UIColor(red: 0.7, green: 0.7, blue: 0, alpha: 0.8), + UIColor(red: 0, green: 0.7, blue: 0.7, alpha: 0.8), + ] + return UnlitMaterial(color: colors.randomElement()!) + } + } + + private let manager: GeospatialManager + private var worldOrigin = AnchorEntity(world: matrix_identity_float4x4) + private var anchorModels: [UUID: ModelEntity] = [:] + private var streetscapeGeometryModels: [UUID: ModelEntity] = [:] + private var planeModels: [UUID: ModelEntity] = [:] + + init(_ manager: GeospatialManager) { + self.manager = manager + super.init() + manager.arView.session.delegate = self + manager.arView.scene.addAnchor(worldOrigin) + } + + private static func createMarkerModel(anchorType: GeospatialManager.AnchorType) -> ModelEntity? + { + do { + let entity = try Entity.loadModel(named: Constants.geospatialMarkerName) + var material = UnlitMaterial() + material.color.texture = MaterialParameters.Texture( + try .load(named: Constants.textureName(anchorType: anchorType))) + entity.model?.materials = [material] + return entity + } catch { + return nil + } + } + + private static func createStreetscapeGeometryModel(_ geometry: GARStreetscapeGeometry) + -> ModelEntity? + { + var descriptor = MeshDescriptor() + + var vertices: [simd_float3] = [] + for i in 0.. MeshResource? { + var descriptor = MeshDescriptor() + descriptor.positions = MeshBuffers.Positions(planeAnchor.geometry.vertices) + descriptor.primitives = .triangles(planeAnchor.geometry.triangleIndices.map { UInt32($0) }) + return try? MeshResource.generate(from: [descriptor]) + } + + private static func createPlaneModel(planeAnchor: ARPlaneAnchor) -> ModelEntity? { + guard let mesh = createPlaneMesh(planeAnchor: planeAnchor) else { return nil } + return ModelEntity(mesh: mesh, materials: [Constants.planeMaterial]) + } + + private static func updatePlaneModel(model: ModelEntity, planeAnchor: ARPlaneAnchor) { + guard let mesh = createPlaneMesh(planeAnchor: planeAnchor) else { return } + model.model?.mesh = mesh + } + + func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { + for anchor in anchors { + guard let planeAnchor = (anchor as? ARPlaneAnchor) else { continue } + guard let model = Coordinator.createPlaneModel(planeAnchor: planeAnchor) else { continue } + planeModels[anchor.identifier] = model + let anchorEntity = AnchorEntity(.anchor(identifier: anchor.identifier)) + anchorEntity.addChild(model) + manager.arView.scene.addAnchor(anchorEntity) + } + } + + func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) { + for anchor in anchors { + guard let planeAnchor = (anchor as? ARPlaneAnchor) else { continue } + guard let model = planeModels[planeAnchor.identifier] else { continue } + Coordinator.updatePlaneModel(model: model, planeAnchor: planeAnchor) + } + } + + func session(_ session: ARSession, didRemove anchors: [ARAnchor]) { + for anchor in anchors { + guard anchor is ARPlaneAnchor else { continue } + let model = planeModels.removeValue(forKey: anchor.identifier) + model?.parent?.removeFromParent() + } + } + + func session(_ session: ARSession, didUpdate frame: ARFrame) { + guard let garFrame = manager.update(frame) else { return } + + // Hide all anchors and geometries if not localized to high accuracy. + worldOrigin.isEnabled = manager.earthTracking && manager.highAccuracy + + var currentAnchorIds = Set() + for garAnchor in garFrame.anchors { + currentAnchorIds.insert(garAnchor.identifier) + + var model = anchorModels[garAnchor.identifier] + if model == nil { + guard let anchorType = manager.anchorTypes[garAnchor.identifier] else { continue } + model = Coordinator.createMarkerModel(anchorType: anchorType) + anchorModels[garAnchor.identifier] = model + model?.setParent(worldOrigin) + } + guard let model else { continue } + + // Rotate the virtual object 180 degrees around the Y axis to make the object face the GL + // camera -Z axis, since camera Z axis faces toward users. + let rotation = simd_quaternion(Float.pi, simd_make_float3(0, 1, 0)) + model.transform = Transform(matrix: simd_mul(garAnchor.transform, simd_matrix4x4(rotation))) + + // Scale up anchors which are far from the camera. + let distance = simd_distance( + frame.camera.transform.columns.3, garAnchor.transform.columns.3) + let scale = 1.0 + (simd_clamp(distance, 5.0, 20.0) - 5.0) / 15.0 + model.scale = simd_make_float3(scale, scale, scale) + } + + for anchorId in anchorModels.keys { + if !currentAnchorIds.contains(anchorId) { + anchorModels[anchorId]?.removeFromParent() + } + } + + for (_, model) in planeModels { + // Hide planes when showing Streetscape Geometry. + model.isEnabled = !manager.streetscapeGeometryEnabled + } + + guard let geometries = garFrame.streetscapeGeometries else { + for (_, model) in streetscapeGeometryModels { + model.removeFromParent() + } + streetscapeGeometryModels.removeAll() + return + } + + for geometry in geometries { + var model = streetscapeGeometryModels[geometry.identifier] + if model == nil { + model = Coordinator.createStreetscapeGeometryModel(geometry) + streetscapeGeometryModels[geometry.identifier] = model + model?.setParent(worldOrigin) + } + guard let model else { continue } + + model.transform = Transform(matrix: geometry.meshTransform) + + if geometry.trackingState == .stopped { + // Remove geometries that permanently stopped tracking. + streetscapeGeometryModels.removeValue(forKey: geometry.identifier) + model.removeFromParent() + } else { + // Hide geometries if not actively tracking. + model.isEnabled = (geometry.trackingState == .tracking) + } + } + } + } + + func makeUIView(context: Context) -> ARView { + return manager.arView + } + + func updateUIView(_ uiView: ARView, context: Context) {} + + func makeCoordinator() -> Coordinator { + return Coordinator(manager) + } +} diff --git a/Examples/GeospatialExample/GeospatialExample/AppDelegate.h b/Examples/GeospatialExample/GeospatialExample/AppDelegate.h deleted file mode 100644 index c7a1360..0000000 --- a/Examples/GeospatialExample/GeospatialExample/AppDelegate.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * Copyright 2021 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -@interface AppDelegate : UIResponder - -@property(nonatomic) UIWindow *window; - -@end diff --git a/Examples/GeospatialExample/GeospatialExample/AppDelegate.m b/Examples/GeospatialExample/GeospatialExample/AppDelegate.m deleted file mode 100644 index efd4551..0000000 --- a/Examples/GeospatialExample/GeospatialExample/AppDelegate.m +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright 2021 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "AppDelegate.h" - -#import "ViewController.h" - -@implementation AppDelegate - -- (BOOL)application:(UIApplication *)application - didFinishLaunchingWithOptions:(NSDictionary *)launchOptions { - [UIApplication sharedApplication].idleTimerDisabled = YES; - self.window = [[UIWindow alloc] init]; - UIStoryboard *storyBoard = [UIStoryboard storyboardWithName:@"Main" bundle:nil]; - ViewController *viewController = [storyBoard instantiateInitialViewController]; - self.window.rootViewController = viewController; - [self.window makeKeyAndVisible]; - return YES; -} - -- (UIInterfaceOrientationMask)application:(UIApplication *)application - supportedInterfaceOrientationsForWindow:(UIWindow *)window { - return UIInterfaceOrientationMaskPortrait; -} - -@end diff --git a/Examples/GeospatialExample/GeospatialExample/Base.lproj/LaunchScreen.storyboard b/Examples/GeospatialExample/GeospatialExample/Base.lproj/LaunchScreen.storyboard deleted file mode 100644 index 865e932..0000000 --- a/Examples/GeospatialExample/GeospatialExample/Base.lproj/LaunchScreen.storyboard +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/GeospatialExample/GeospatialExample/Base.lproj/Main.storyboard b/Examples/GeospatialExample/GeospatialExample/Base.lproj/Main.storyboard deleted file mode 100644 index 808a21c..0000000 --- a/Examples/GeospatialExample/GeospatialExample/Base.lproj/Main.storyboard +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/GeospatialExample/GeospatialExample/ContentView.swift b/Examples/GeospatialExample/GeospatialExample/ContentView.swift new file mode 100644 index 0000000..8e2c8b0 --- /dev/null +++ b/Examples/GeospatialExample/GeospatialExample/ContentView.swift @@ -0,0 +1,136 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +/// View for testing Geospatial localization, Streetscape Geometry and Geospatial anchors. +struct ContentView: View { + @StateObject var manager = GeospatialManager() + + private let font = Font.system(size: 14) + private let boldFont = Font.system(size: 14, weight: .bold) + private let anchorTypes: [(GeospatialManager.AnchorType, String)] = [ + (.geospatial, "Geospatial"), + (.terrain, "Terrain"), + (.rooftop, "Rooftop"), + ] + + var body: some View { + ZStack { + ARViewContainer(manager: manager) + .ignoresSafeArea() + .onTapGesture { + manager.tapPoint($0) + } + VStack { + ZStack(alignment: .leading) { + Rectangle() + .opacity(0.5) + Text(manager.trackingLabel) + .font(font) + .foregroundStyle(.white) + .lineLimit(6) + .multilineTextAlignment(.leading) + } + .frame(height: 140) + Spacer() + if manager.tapScreenVisible { + Text("TAP ON SCREEN TO CREATE ANCHOR") + .font(boldFont) + .foregroundStyle(.white) + } + ZStack(alignment: .leading) { + Rectangle() + .opacity(0.5) + Text(manager.statusLabel) + .font(font) + .foregroundStyle(.white) + .lineLimit(2) + .multilineTextAlignment(.leading) + if manager.clearAnchorsVisible { + VStack { + Spacer() + Button { + manager.clearAllAnchors() + } label: { + Text("CLEAR ALL ANCHORS") + .font(boldFont) + } + } + } + VStack { + Spacer() + Toggle(isOn: $manager.streetscapeGeometryEnabled) { + Text("SHOW GEOMETRY") + .font(boldFont) + .foregroundStyle(.white) + .frame(maxWidth: .infinity, alignment: .trailing) + } + } + if manager.anchorModeVisible { + VStack { + HStack { + Spacer() + Menu { + Picker(selection: $manager.anchorType) { + ForEach(anchorTypes, id: \.self.0) { type in + Text(type.1) + } + } label: { + } + } label: { + HStack(spacing: 0) { + Image(uiImage: UIImage(systemName: "gearshape.fill")!) + .renderingMode(.template) + .foregroundStyle(.blue) + Text("ANCHOR SETTINGS") + .font(boldFont) + } + } + } + Spacer() + } + } + } + .frame(height: 160) + } + } + .alert("AR in the real world", isPresented: $manager.showPrivacyNotice) { + Button { + manager.acceptPrivacyNotice() + } label: { + Text("Get started") + } + Link("Learn more", destination: URL(string: "https://developers.google.com/ar/data-privacy")!) + } message: { + Text("To power this session, Google will process visual data from your camera.") + } + .alert("VPS not available", isPresented: $manager.showVPSUnavailableNotice) { + Button { + } label: { + Text("Continue") + } + } message: { + Text( + "The Google Visual Positioning Service (VPS) is not available at your current " + + "location. Location data may not be as accurate.") + } + } +} + +#Preview { + ContentView() +} diff --git a/Examples/GeospatialExample/GeospatialExample/GeospatialExampleApp.swift b/Examples/GeospatialExample/GeospatialExample/GeospatialExampleApp.swift new file mode 100644 index 0000000..ccfea37 --- /dev/null +++ b/Examples/GeospatialExample/GeospatialExample/GeospatialExampleApp.swift @@ -0,0 +1,26 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +@main +struct GeospatialExampleApp: App { + var body: some Scene { + WindowGroup { + ContentView() + } + } +} diff --git a/Examples/GeospatialExample/GeospatialExample/GeospatialManager.swift b/Examples/GeospatialExample/GeospatialExample/GeospatialManager.swift new file mode 100644 index 0000000..7fed2b7 --- /dev/null +++ b/Examples/GeospatialExample/GeospatialExample/GeospatialManager.swift @@ -0,0 +1,594 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import CoreGraphics +import CoreLocation +import Foundation +import RealityKit +import simd + +/// Model object for using the Geospatial API and placing Geospatial anchors. +class GeospatialManager: NSObject, ObservableObject, CLLocationManagerDelegate { + /// Different types of Geospatial anchors you can place with the app. + enum AnchorType: Int { + case geospatial = 0 + case terrain = 1 + case rooftop = 2 + } + + private enum Constants { + /// Fill in your own API Key here. + static let apiKey = "your-api-key" + /// User defaults key for storing privacy notice acceptance. + static let privacyNoticeUserDefaultsKey = "privacy_notice_acknowledged" + /// User defaults key for storing saved anchors. + static let savedAnchorsUserDefaultsKey = "anchors" + /// Maximum number of anchors you can place at one time. + static let maxAnchorCount = 20 + /// Horizontal accuracy threshold (meters) for being considered localized with "high accuracy". + static let horizontalAccuracyLowThreshold: CLLocationAccuracy = 10 + /// Horizontal accuracy threshold (meters) for being considered to lose "high accuracy" + /// localization. + static let horizontalAccuracyHighThreshold: CLLocationAccuracy = 20 + /// Orientation yaw accuracy threshold (degrees) for being considered localized with + /// "high accuracy". + static let orientationYawAccuracyLowThreshold: CLLocationDirectionAccuracy = 15 + /// Orientation yaw accuracy threshold (degrees) for being considered to lose "high accuracy" + /// localization. + static let orientationYawAccuracyHighThreshold: CLLocationDirectionAccuracy = 25 + /// Give up localizing with high accuracy after 3 minutes. + static let localizationFailureTime: TimeInterval = 180 + } + + @Published var trackingLabel = "" + @Published var statusLabel = "" + @Published var tapScreenVisible = false + @Published var clearAnchorsVisible = false + @Published var anchorModeVisible = false + @Published var showPrivacyNotice = !UserDefaults.standard.bool( + forKey: Constants.privacyNoticeUserDefaultsKey) + @Published var showVPSUnavailableNotice = false + @Published var anchorType = AnchorType.geospatial + + @Published var streetscapeGeometryEnabled = true { + willSet { + if newValue != streetscapeGeometryEnabled { + toggleStreetscapeGeometry(enabled: newValue) + } + } + } + + let arView = ARView(frame: .zero, cameraMode: .ar, automaticallyConfigureSession: false) + private var locationManager: CLLocationManager? + private var garSession: GARSession? + + private var pendingFutures: [UUID: GARFuture] = [:] + private var anchors: [GARAnchor] = [] + var anchorTypes: [UUID: AnchorType] = [:] + var earthTracking = false + var highAccuracy = false + private var addedSavedAnchors = false + private var localizationFailed = false + private var lastStartDate: Date? = nil + private var resolveErrorMessage: String? = nil + + override init() { + super.init() + if !showPrivacyNotice { + setupARSession() + } + } + + private func toggleStreetscapeGeometry(enabled: Bool) { + guard let garSession else { return } + let configuration = GARSessionConfiguration() + configuration.geospatialMode = .enabled + configuration.streetscapeGeometryMode = enabled ? .enabled : .disabled + var error: NSError? + garSession.setConfiguration(configuration, error: &error) + if let error { + print("Failed to toggle Streetscape Geometry configuration: \(error)") + } + } + + /// Called when the user taps on the `ARView` to place an anchor. + /// + /// - Parameter point: The point the user tapped on within the `ARView`'s coordinate space. + func tapPoint(_ point: CGPoint) { + guard let garSession, !localizationFailed, + anchors.count + pendingFutures.count < Constants.maxAnchorCount + else { return } + + guard + let raycastQuery = arView.makeRaycastQuery( + from: point, allowing: .existingPlaneGeometry, alignment: .horizontal) + else { return } + if streetscapeGeometryEnabled { + do { + let results = try garSession.raycastStreetscapeGeometry( + origin: raycastQuery.origin, direction: raycastQuery.direction) + guard let result = results.first else { return } + let geospatialTransform = try garSession.geospatialTransform( + transform: result.worldTransform) + switch anchorType { + case .geospatial: + let anchor = try garSession.createAnchor( + geometry: result.streetscapeGeometry, transform: result.worldTransform) + // Don't save anchors on Streetscape Geometry between sessions. + anchors.append(anchor) + anchorTypes[anchor.identifier] = .geospatial + case .terrain: + addTerrainAnchor( + coordinate: geospatialTransform.coordinate, + eastUpSouthQTarget: simd_quaternion(0, 0, 0, 1), save: true) + case .rooftop: + addRooftopAnchor( + coordinate: geospatialTransform.coordinate, + eastUpSouthQTarget: simd_quaternion(0, 0, 0, 1), save: true) + } + + } catch { + print("Error adding anchor on StreetscapeGeometry: \(error)") + } + } else { + let results = arView.session.raycast(raycastQuery) + guard let result = results.first else { return } + let geospatialTransform: GARGeospatialTransform + do { + geospatialTransform = try garSession.geospatialTransform(transform: result.worldTransform) + } catch { + print("Error converting transform to Geospatial transform: \(error)") + return + } + switch anchorType { + case .geospatial: + addAnchor( + coordinate: geospatialTransform.coordinate, altitude: geospatialTransform.altitude, + eastUpSouthQTarget: geospatialTransform.eastUpSouthQTarget, save: true) + case .terrain: + addTerrainAnchor( + coordinate: geospatialTransform.coordinate, + eastUpSouthQTarget: geospatialTransform.eastUpSouthQTarget, save: true) + case .rooftop: + addRooftopAnchor( + coordinate: geospatialTransform.coordinate, + eastUpSouthQTarget: geospatialTransform.eastUpSouthQTarget, save: true) + } + } + } + + private func saveAnchor( + coordinate: CLLocationCoordinate2D, altitude: CLLocationDistance, + eastUpSouthQTarget: simd_quatf, anchorType: AnchorType + ) { + var savedAnchors = + (UserDefaults.standard.array(forKey: Constants.savedAnchorsUserDefaultsKey) + as? [[String: NSNumber]]) ?? [] + var anchor = [ + "latitude": NSNumber(floatLiteral: coordinate.latitude), + "longitude": NSNumber(floatLiteral: coordinate.longitude), + "type": NSNumber(integerLiteral: anchorType.rawValue), + "x": NSNumber(floatLiteral: Double(eastUpSouthQTarget.vector[0])), + "y": NSNumber(floatLiteral: Double(eastUpSouthQTarget.vector[1])), + "z": NSNumber(floatLiteral: Double(eastUpSouthQTarget.vector[2])), + "w": NSNumber(floatLiteral: Double(eastUpSouthQTarget.vector[3])), + ] + if anchorType == .geospatial { + anchor["altitude"] = NSNumber(floatLiteral: altitude) + } + savedAnchors.append(anchor) + UserDefaults.standard.setValue(savedAnchors, forKey: Constants.savedAnchorsUserDefaultsKey) + } + + private func addSavedAnchors() { + let savedAnchors = + (UserDefaults.standard.array(forKey: Constants.savedAnchorsUserDefaultsKey) + as? [[String: NSNumber]]) ?? [] + for anchor in savedAnchors { + // Ignore the stored anchors that contain heading for backwards-compatibility. + if anchor["heading"] != nil { + continue + } + let coordinate = CLLocationCoordinate2D( + latitude: anchor["latitude"]?.doubleValue ?? 0, + longitude: anchor["longitude"]?.doubleValue ?? 0) + let eastUpSouthQTarget = simd_quaternion( + anchor["x"]?.floatValue ?? 0, + anchor["y"]?.floatValue ?? 0, + anchor["z"]?.floatValue ?? 0, + anchor["w"]?.floatValue ?? 0) + guard let anchorType = AnchorType(rawValue: anchor["type"]?.intValue ?? 0) else { continue } + switch anchorType { + case .geospatial: + let altitude = anchor["altitude"]?.doubleValue ?? 0 + addAnchor( + coordinate: coordinate, altitude: altitude, eastUpSouthQTarget: eastUpSouthQTarget, + save: false) + case .terrain: + addTerrainAnchor( + coordinate: coordinate, eastUpSouthQTarget: eastUpSouthQTarget, save: false) + case .rooftop: + addRooftopAnchor( + coordinate: coordinate, eastUpSouthQTarget: eastUpSouthQTarget, save: false) + } + } + } + + private func addAnchor( + coordinate: CLLocationCoordinate2D, altitude: CLLocationDistance, + eastUpSouthQTarget: simd_quatf, save: Bool + ) { + guard let garSession else { return } + do { + let anchor = try garSession.createAnchor( + coordinate: coordinate, altitude: altitude, eastUpSouthQAnchor: eastUpSouthQTarget) + anchors.append(anchor) + anchorTypes[anchor.identifier] = .geospatial + if save { + saveAnchor( + coordinate: coordinate, altitude: altitude, eastUpSouthQTarget: eastUpSouthQTarget, + anchorType: .geospatial) + } + } catch { + print("Error adding anchor: \(error)") + return + } + } + + private static func string(from terrainState: GARTerrainAnchorState) -> String { + switch terrainState { + case .none: + return "None" + case .success: + return "Success" + case .errorInternal: + return "ErrorInternal" + case .errorNotAuthorized: + return "ErrorNotAuthorized" + case .errorUnsupportedLocation: + return "ErrorUnsupportedLocation" + default: + // Not handling any deprecated values that will never be returned. + return "Unknown" + } + } + + private func addTerrainAnchor( + coordinate: CLLocationCoordinate2D, eastUpSouthQTarget: simd_quatf, save: Bool + ) { + guard let garSession else { return } + do { + let futureId = UUID() + pendingFutures[futureId] = try garSession.createAnchorOnTerrain( + coordinate: coordinate, altitudeAboveTerrain: 0, eastUpSouthQAnchor: eastUpSouthQTarget + ) { anchor, terrainState in + self.pendingFutures.removeValue(forKey: futureId) + guard terrainState == .success, let anchor else { + self.resolveErrorMessage = + "Error resolving terrain anchor: \(GeospatialManager.string(from: terrainState))" + return + } + self.anchors.append(anchor) + self.anchorTypes[anchor.identifier] = .terrain + if save { + self.saveAnchor( + coordinate: coordinate, altitude: 0, eastUpSouthQTarget: eastUpSouthQTarget, + anchorType: .terrain) + } + } + } catch let error as NSError { + print("Error adding terrain anchor: \(error)") + if error.code == GARSessionError.resourceExhausted.rawValue { + statusLabel = + "Too many terrain and rooftop anchors have already been held. " + + "Clear all anchors to create new ones." + } + } + } + + private static func string(from rooftopState: GARRooftopAnchorState) -> String { + switch rooftopState { + case .none: + return "None" + case .success: + return "Success" + case .errorInternal: + return "ErrorInternal" + case .errorNotAuthorized: + return "ErrorNotAuthorized" + case .errorUnsupportedLocation: + return "ErrorUnsupportedLocation" + @unknown default: + return "Unknown" + } + } + + private func addRooftopAnchor( + coordinate: CLLocationCoordinate2D, eastUpSouthQTarget: simd_quatf, save: Bool + ) { + guard let garSession else { return } + do { + let futureId = UUID() + pendingFutures[futureId] = try garSession.createAnchorOnRooftop( + coordinate: coordinate, altitudeAboveRooftop: 0, eastUpSouthQAnchor: eastUpSouthQTarget + ) { anchor, rooftopState in + self.pendingFutures.removeValue(forKey: futureId) + guard rooftopState == .success, let anchor else { + self.resolveErrorMessage = + "Error resolving rooftop anchor: \(GeospatialManager.string(from: rooftopState))" + return + } + self.anchors.append(anchor) + self.anchorTypes[anchor.identifier] = .rooftop + if save { + self.saveAnchor( + coordinate: coordinate, altitude: 0, eastUpSouthQTarget: eastUpSouthQTarget, + anchorType: .rooftop) + } + } + } catch let error as NSError { + print("Error adding rooftop anchor: \(error)") + if error.code == GARSessionError.resourceExhausted.rawValue { + statusLabel = + "Too many terrain and rooftop anchors have already been held. " + + "Clear all anchors to create new ones." + } + } + } + + /// Called when the user taps the button to clear all anchors. Removes all anchors from the + /// session and clears stored anchors. + func clearAllAnchors() { + for (_, future) in pendingFutures { + future.cancel() + } + pendingFutures.removeAll() + for anchor in anchors { + garSession?.remove(anchor) + } + anchors.removeAll() + anchorTypes.removeAll() + UserDefaults.standard.removeObject(forKey: Constants.savedAnchorsUserDefaultsKey) + } + + private func updateLocalizationState(_ garFrame: GARFrame) { + guard let earth = garFrame.earth, let lastStartDate else { return } + + if earth.earthState != .enabled { + localizationFailed = true + return + } + + guard let geospatialTransform = earth.cameraGeospatialTransform, + earth.trackingState == .tracking + else { + earthTracking = false + return + } + + earthTracking = true + let now = Date() + + if highAccuracy { + if geospatialTransform.horizontalAccuracy > Constants.horizontalAccuracyHighThreshold + || geospatialTransform.orientationYawAccuracy + > Constants.orientationYawAccuracyHighThreshold + { + highAccuracy = false + self.lastStartDate = now + } + return + } + + if geospatialTransform.horizontalAccuracy < Constants.horizontalAccuracyLowThreshold + && geospatialTransform.orientationYawAccuracy < Constants.orientationYawAccuracyLowThreshold + { + highAccuracy = true + if !addedSavedAnchors { + addSavedAnchors() + addedSavedAnchors = true + } + } else if now.timeIntervalSince(lastStartDate) >= Constants.localizationFailureTime { + localizationFailed = true + } + } + + private static func string(from earthState: GAREarthState) -> String { + switch earthState { + case .errorInternal: + return "ERROR_INTERNAL" + case .errorNotAuthorized: + return "ERROR_NOT_AUTHORIZED" + case .errorResourceExhausted: + return "ERROR_RESOURCE_EXHAUSTED" + default: + return "ENABLED" + } + } + + private func updateTrackingLabel(_ garFrame: GARFrame) { + guard let earth = garFrame.earth else { return } + + if localizationFailed { + if earth.earthState != .enabled { + trackingLabel = "Bad EarthState: \(GeospatialManager.string(from: earth.earthState))" + } else { + trackingLabel = "" + } + return + } + + guard let geospatialTransform = earth.cameraGeospatialTransform, + earth.trackingState == .tracking + else { + trackingLabel = "Not tracking." + return + } + + trackingLabel = String( + format: + "LAT/LONG: %.6f°, %.6f°\n ACCURACY: %.2fm\nALTITUDE: %.2fm\n ACCURACY: %.2fm\n" + + "ORIENTATION: [%.1f, %.1f, %.1f, %.1f]\n YAW ACCURACY: %.1f°", + arguments: [ + geospatialTransform.coordinate.latitude, geospatialTransform.coordinate.longitude, + geospatialTransform.horizontalAccuracy, geospatialTransform.altitude, + geospatialTransform.verticalAccuracy, geospatialTransform.eastUpSouthQTarget.vector[0], + geospatialTransform.eastUpSouthQTarget.vector[1], + geospatialTransform.eastUpSouthQTarget.vector[2], + geospatialTransform.eastUpSouthQTarget.vector[3], + geospatialTransform.orientationYawAccuracy, + ]) + } + + private func updateStatusLabelAndButtons(_ garFrame: GARFrame) { + if localizationFailed { + statusLabel = "Localization not possible.\nClose and open the app to restart." + tapScreenVisible = false + clearAnchorsVisible = false + anchorModeVisible = false + return + } + + if !earthTracking { + statusLabel = "Localizing your device to set anchor." + tapScreenVisible = false + clearAnchorsVisible = false + return + } + + if !highAccuracy { + statusLabel = "Point your camera at buildings, stores, and signs near you." + tapScreenVisible = false + clearAnchorsVisible = false + return + } + + let anchorCount = anchors.count + pendingFutures.count + + if let resolveErrorMessage { + statusLabel = resolveErrorMessage + } else if anchors.isEmpty { + statusLabel = "Localization complete." + } else { + statusLabel = "Num anchors: \(anchorCount)/\(Constants.maxAnchorCount)" + } + + clearAnchorsVisible = (anchorCount > 0) + tapScreenVisible = (anchorCount < Constants.maxAnchorCount) + anchorModeVisible = true + } + + /// Feeds the latest `ARFrame` to the `GARSession` and updates the UI state. + func update(_ frame: ARFrame) -> GARFrame? { + guard let garSession, !localizationFailed else { return nil } + guard let garFrame = try? garSession.update(frame) else { return nil } + + updateLocalizationState(garFrame) + updateTrackingLabel(garFrame) + updateStatusLabelAndButtons(garFrame) + + return garFrame + } + + /// Called when the user accepts the privacy notice. + func acceptPrivacyNotice() { + UserDefaults.standard.setValue(true, forKey: Constants.privacyNoticeUserDefaultsKey) + setupARSession() + } + + private func setupARSession() { + let configuration = ARWorldTrackingConfiguration() + configuration.worldAlignment = .gravity + // Optional. It will help the dynamic alignment of terrain anchors on ground. + configuration.planeDetection = .horizontal + arView.session.run(configuration) + + locationManager = CLLocationManager() + // This will cause `locationManagerDidChangeAuthorization()` to be called asynchronously on the + // main thread. After obtaining location permission, we will set up the ARCore session. + locationManager?.delegate = self + } + + private func setErrorStatus(_ message: String) { + statusLabel = message + tapScreenVisible = false + clearAnchorsVisible = false + } + + func locationManagerDidChangeAuthorization(_ manager: CLLocationManager) { + switch manager.authorizationStatus { + case .authorizedAlways, .authorizedWhenInUse: + if manager.accuracyAuthorization != .fullAccuracy { + setErrorStatus("Location permission not granted with full accuracy.") + return + } + setupGARSession() + // Request device location for checking VPS availability. + manager.requestLocation() + case .notDetermined: + // The app is responsible for obtaining the location permission prior to configuring the + // ARCore session. ARCore will not cause the location permission system prompt. + manager.requestWhenInUseAuthorization() + default: + setErrorStatus("Location permission denied or restricted.") + } + } + + func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) { + if let location = locations.last, let garSession { + garSession.checkVPSAvailability(coordinate: location.coordinate) { availability in + if availability != .available { + self.showVPSUnavailableNotice = true + } + } + } + } + + func locationManager(_ manager: CLLocationManager, didFailWithError error: any Error) { + print("Location manager failed: \(error)") + } + + private func setupGARSession() { + guard garSession == nil else { return } + + let session: GARSession + do { + session = try GARSession(apiKey: Constants.apiKey, bundleIdentifier: nil) + } catch let error as NSError { + setErrorStatus("Failed to create GARSession: \(error.code)") + return + } + + if !session.isGeospatialModeSupported(.enabled) { + setErrorStatus("The Geospatial API is not supported on this device.") + return + } + + let configuration = GARSessionConfiguration() + configuration.geospatialMode = .enabled + configuration.streetscapeGeometryMode = streetscapeGeometryEnabled ? .enabled : .disabled + var error: NSError? + session.setConfiguration(configuration, error: &error) + if let error { + setErrorStatus("Failed to configure GARSession: \(error.code)") + } + + garSession = session + lastStartDate = Date() + } +} diff --git a/Examples/GeospatialExample/GeospatialExample/Info.plist b/Examples/GeospatialExample/GeospatialExample/Info.plist index c462e15..f07ff91 100644 --- a/Examples/GeospatialExample/GeospatialExample/Info.plist +++ b/Examples/GeospatialExample/GeospatialExample/Info.plist @@ -26,10 +26,11 @@ Location permission is needed for geospatial localization. UIApplicationSupportsIndirectInputEvents - UILaunchStoryboardName - LaunchScreen - UIMainStoryboardFile - Main + UILaunchScreen + + UILaunchScreen + + UIRequiredDeviceCapabilities arkit @@ -37,7 +38,13 @@ UIRequiresFullScreen - UISupportedInterfaceOrientations + UIStatusBarHidden + + UISupportedInterfaceOrientations~ipad + + UIInterfaceOrientationPortrait + + UISupportedInterfaceOrientations~iphone UIInterfaceOrientationPortrait diff --git a/Examples/GeospatialExample/GeospatialExample/ViewController.h b/Examples/GeospatialExample/GeospatialExample/ViewController.h deleted file mode 100644 index 0aa49a1..0000000 --- a/Examples/GeospatialExample/GeospatialExample/ViewController.h +++ /dev/null @@ -1,20 +0,0 @@ -/* - * Copyright 2021 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ -#import - -@interface ViewController : UIViewController - -@end diff --git a/Examples/GeospatialExample/GeospatialExample/ViewController.m b/Examples/GeospatialExample/GeospatialExample/ViewController.m deleted file mode 100644 index 2e3e100..0000000 --- a/Examples/GeospatialExample/GeospatialExample/ViewController.m +++ /dev/null @@ -1,1215 +0,0 @@ -/* - * Copyright 2021 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "ViewController.h" - -#import -#import -#import -#import -#import -#import -#import -#import - -#include - -#import - -// Thresholds for 'good enough' accuracy. These can be tuned for the application. We use both 'low' -// and 'high' values here to avoid flickering state changes. -static const CLLocationAccuracy kHorizontalAccuracyLowThreshold = 10; -static const CLLocationAccuracy kHorizontalAccuracyHighThreshold = 20; -static const CLLocationDirectionAccuracy kOrientationYawAccuracyLowThreshold = 15; -static const CLLocationDirectionAccuracy kOrientationYawAccuracyHighThreshold = 25; - -// Time after which the app gives up if good enough accuracy is not achieved. -static const NSTimeInterval kLocalizationFailureTime = 3 * 60.0; -// Time after showing resolving terrain anchors no result yet message. -static const NSTimeInterval kDurationNoTerrainAnchorResult = 10; - -// This sample allows up to |kMaxAnchors| simultaneous anchors, although in principal ARCore -// supports an unlimited number. -static const NSUInteger kMaxAnchors = 20; - -static NSString *const kPretrackingMessage = @"Localizing your device to set anchor."; -static NSString *const kLocalizationTip = - @"Point your camera at buildings, stores, and signs near you."; -static NSString *const kLocalizationComplete = @"Localization complete."; -static NSString *const kLocalizationFailureMessage = - @"Localization not possible.\nClose and open the app to restart."; -static NSString *const kGeospatialTransformFormat = - @"LAT/LONG: %.6f°, %.6f°\n ACCURACY: %.2fm\nALTITUDE: %.2fm\n ACCURACY: %.2fm\n" - "ORIENTATION: [%.1f, %.1f, %.1f, %.1f]\n YAW ACCURACY: %.1f°"; - -static const CGFloat kFontSize = 14.0; - -// Anchor coordinates are persisted between sessions. -static NSString *const kSavedAnchorsUserDefaultsKey = @"anchors"; - -// Show privacy notice before using features. -static NSString *const kPrivacyNoticeUserDefaultsKey = @"privacy_notice_acknowledged"; - -// Title of the privacy notice prompt. -static NSString *const kPrivacyNoticeTitle = @"AR in the real world"; - -// Content of the privacy notice prompt. -static NSString *const kPrivacyNoticeText = - @"To power this session, Google will process visual data from your camera."; - -// Link to learn more about the privacy content. -static NSString *const kPrivacyNoticeLearnMoreURL = - @"https://developers.google.com/ar/data-privacy"; - -// Show VPS availability notice before using features. -static NSString *const kVPSAvailabilityNoticeUserDefaultsKey = - @"VPS_availability_notice_acknowledged"; - -// Title of the VPS availability notice prompt. -static NSString *const kVPSAvailabilityTitle = @"VPS not available"; - -// Content of the VPS availability notice prompt. -static NSString *const kVPSAvailabilityText = - @"The Google Visual Positioning Service (VPS) is not available at your current location. " - @"Location data may not be as accurate."; - -typedef NS_ENUM(NSInteger, LocalizationState) { - LocalizationStatePretracking = 0, - LocalizationStateLocalizing = 1, - LocalizationStateLocalized = 2, - LocalizationStateFailed = -1, -}; - -typedef NS_ENUM(NSInteger, AnchorType) { - AnchorTypeGeospatial = 0, - AnchorTypeTerrain = 1, - AnchorTypeRooftop = 2, -}; - -@interface ViewController () - -/** Location manager used to request and check for location permissions. */ -@property(nonatomic) CLLocationManager *locationManager; - -/** ARKit session. */ -@property(nonatomic) ARSession *arSession; - -/** - * ARCore session, used for geospatial localization. Created after obtaining location permission. - */ -@property(nonatomic) GARSession *garSession; - -/** A view that shows an AR enabled camera feed and 3D content. */ -@property(nonatomic, weak) ARSCNView *scnView; - -/** SceneKit scene used for rendering markers. */ -@property(nonatomic) SCNScene *scene; - -/** Label used to show Earth tracking state at top of screen. */ -@property(nonatomic, weak) UILabel *trackingLabel; - -/** Label used to show status at bottom of screen. */ -@property(nonatomic, weak) UILabel *statusLabel; - -/** Label used to show hint that tap screen to create anchors. */ -@property(nonatomic, weak) UILabel *tapScreenLabel; - -/** UISwitch for enabling or disabling Streetscape Geometry. */ -@property(nonatomic, weak) UISwitch *streetscapeGeometrySwitch; - -/** UIButton to select the anchor mode. */ -@property(nonatomic, weak) UIButton *anchorModeSelector; - -/** The current type of anchor to create. */ -@property(nonatomic) AnchorType anchorMode; - -/** Label of streetscapeGeometrySwitch. */ -@property(nonatomic, weak) UILabel *switchLabel; - -/** Button used to clear all existing anchors. */ -@property(nonatomic, weak) UIButton *clearAllAnchorsButton; - -/** The most recent GARFrame. */ -@property(nonatomic) GARFrame *garFrame; - -/** Dictionary mapping anchor IDs to SceneKit nodes. */ -@property(nonatomic) NSMutableDictionary *markerNodes; - -/** The last time we started attempting to localize. Used to implement failure timeout. */ -@property(nonatomic) NSDate *lastStartLocalizationDate; - -/** Error message, if any, of last attempted anchor resolution */ -@property(nonatomic) NSString *resolveAnchorErrorMessage; - -/** The current localization state. */ -@property(nonatomic) LocalizationState localizationState; - -/** Whether we have restored anchors saved from the previous session. */ -@property(nonatomic) BOOL restoredSavedAnchors; - -/** - * Will we restore the saved anchors this frame, keep track of this to avoid the race condition - * where the frame.anchors is used after the anchor is added. - */ -@property(nonatomic) BOOL willRestoreSavedAnchors; - -/** Whether the last anchor is terrain anchor. */ -@property(nonatomic) BOOL islastClickedTerrainAnchorButton; - -/** Parent SceneKit node of all StreetscapeGeometries */ -@property(nonatomic) SCNNode *streetscapeGeometryParentNode; - -/** Dictionary mapping StreetscapeGeometry IDs to SceneKit nodes. */ -@property(nonatomic) NSMutableDictionary *streetscapeGeometryNodes; - -/** Is StreetscapeGeometry enabled */ -@property(nonatomic) BOOL isStreetscapeGeometryEnabled; - -/** ARKit plane nodes */ -@property(nonatomic) NSMutableSet *planeNodes; - -/** Active futures for resolving terrain or rooftop anchors. */ -@property(nonatomic) int activeFutures; - -@end - -@implementation ViewController - -- (void)viewDidLoad { - [super viewDidLoad]; - - self.markerNodes = [NSMutableDictionary dictionary]; - - ARSCNView *scnView = [[ARSCNView alloc] init]; - scnView = [[ARSCNView alloc] init]; - scnView.translatesAutoresizingMaskIntoConstraints = NO; - scnView.automaticallyUpdatesLighting = YES; - scnView.autoenablesDefaultLighting = YES; - self.scnView = scnView; - self.scene = self.scnView.scene; - self.arSession = self.scnView.session; - self.scnView.delegate = self; - self.scnView.debugOptions = ARSCNDebugOptionShowFeaturePoints; - - self.planeNodes = [NSMutableSet set]; - self.activeFutures = 0; - - self.streetscapeGeometryParentNode = [SCNNode node]; - self.streetscapeGeometryParentNode.hidden = NO; - [self.scene.rootNode addChildNode:self.streetscapeGeometryParentNode]; - self.streetscapeGeometryNodes = [[NSMutableDictionary alloc] init]; - self.isStreetscapeGeometryEnabled = YES; - - [self.view addSubview:self.scnView]; - - UIFont *font = [UIFont systemFontOfSize:kFontSize]; - UIFont *boldFont = [UIFont boldSystemFontOfSize:kFontSize]; - - UILabel *trackingLabel = [[UILabel alloc] init]; - trackingLabel.translatesAutoresizingMaskIntoConstraints = NO; - trackingLabel.font = font; - trackingLabel.textColor = UIColor.whiteColor; - trackingLabel.backgroundColor = [UIColor colorWithWhite:0 alpha:.5]; - trackingLabel.numberOfLines = 6; - self.trackingLabel = trackingLabel; - [self.scnView addSubview:trackingLabel]; - - UILabel *tapScreenLabel = [[UILabel alloc] init]; - tapScreenLabel.translatesAutoresizingMaskIntoConstraints = NO; - tapScreenLabel.font = boldFont; - tapScreenLabel.textColor = UIColor.whiteColor; - tapScreenLabel.numberOfLines = 2; - tapScreenLabel.textAlignment = NSTextAlignmentCenter; - tapScreenLabel.text = @"TAP ON SCREEN TO CREATE ANCHOR"; - tapScreenLabel.hidden = YES; - self.tapScreenLabel = tapScreenLabel; - [self.scnView addSubview:tapScreenLabel]; - - UILabel *statusLabel = [[UILabel alloc] init]; - statusLabel.translatesAutoresizingMaskIntoConstraints = NO; - statusLabel.font = font; - statusLabel.textColor = UIColor.whiteColor; - statusLabel.backgroundColor = [UIColor colorWithWhite:0 alpha:.5]; - statusLabel.numberOfLines = 2; - self.statusLabel = statusLabel; - [self.scnView addSubview:statusLabel]; - - UISwitch *streetscapeGeometrySwitch = [[UISwitch alloc] init]; - streetscapeGeometrySwitch.translatesAutoresizingMaskIntoConstraints = NO; - [streetscapeGeometrySwitch setOn:YES]; - [self.view addSubview:streetscapeGeometrySwitch]; - self.streetscapeGeometrySwitch = streetscapeGeometrySwitch; - - UIButton *anchorModeSelector = [UIButton buttonWithType:UIButtonTypeSystem]; - [anchorModeSelector setTitle:@"ANCHOR SETTINGS" forState:UIControlStateNormal]; - [anchorModeSelector setImage:[UIImage systemImageNamed:@"gearshape.fill"] - forState:UIControlStateNormal]; - anchorModeSelector.hidden = YES; - anchorModeSelector.titleLabel.font = boldFont; - anchorModeSelector.translatesAutoresizingMaskIntoConstraints = NO; - anchorModeSelector.menu = [self anchorSettingsMenu]; - anchorModeSelector.showsMenuAsPrimaryAction = YES; - [self.view addSubview:anchorModeSelector]; - self.anchorModeSelector = anchorModeSelector; - - UILabel *switchLabel = [[UILabel alloc] init]; - switchLabel.translatesAutoresizingMaskIntoConstraints = NO; - switchLabel.font = boldFont; - switchLabel.textColor = UIColor.whiteColor; - switchLabel.numberOfLines = 1; - self.switchLabel = switchLabel; - [self.scnView addSubview:switchLabel]; - self.switchLabel.text = @"SHOW GEOMETRY"; - - UIButton *clearAllAnchorsButton = [UIButton buttonWithType:UIButtonTypeSystem]; - clearAllAnchorsButton.translatesAutoresizingMaskIntoConstraints = NO; - [clearAllAnchorsButton setTitle:@"CLEAR ALL ANCHORS" forState:UIControlStateNormal]; - clearAllAnchorsButton.titleLabel.font = boldFont; - [clearAllAnchorsButton addTarget:self - action:@selector(clearAllAnchorsButtonPressed) - forControlEvents:UIControlEventTouchUpInside]; - clearAllAnchorsButton.hidden = YES; - self.clearAllAnchorsButton = clearAllAnchorsButton; - [self.view addSubview:clearAllAnchorsButton]; - - [self.scnView.topAnchor constraintEqualToAnchor:self.view.topAnchor].active = YES; - [self.scnView.bottomAnchor constraintEqualToAnchor:self.view.bottomAnchor].active = YES; - [self.scnView.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - [self.scnView.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - - [trackingLabel.topAnchor constraintEqualToAnchor:self.view.safeAreaLayoutGuide.topAnchor].active = - YES; - [trackingLabel.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - [trackingLabel.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - [trackingLabel.heightAnchor constraintEqualToConstant:140].active = YES; - - [tapScreenLabel.bottomAnchor constraintEqualToAnchor:self.statusLabel.topAnchor].active = YES; - [tapScreenLabel.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - [tapScreenLabel.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - [tapScreenLabel.heightAnchor constraintEqualToConstant:20].active = YES; - - [statusLabel.bottomAnchor constraintEqualToAnchor:self.view.safeAreaLayoutGuide.bottomAnchor] - .active = YES; - [statusLabel.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - [statusLabel.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - [statusLabel.heightAnchor constraintEqualToConstant:160].active = YES; - - [streetscapeGeometrySwitch.bottomAnchor constraintEqualToAnchor:self.statusLabel.bottomAnchor] - .active = YES; - [streetscapeGeometrySwitch.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = - YES; - - [anchorModeSelector.topAnchor constraintEqualToAnchor:self.statusLabel.topAnchor].active = YES; - [anchorModeSelector.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - - [switchLabel.bottomAnchor constraintEqualToAnchor:self.statusLabel.bottomAnchor].active = YES; - [switchLabel.rightAnchor constraintEqualToAnchor:self.streetscapeGeometrySwitch.leftAnchor] - .active = YES; - [switchLabel.heightAnchor constraintEqualToConstant:40].active = YES; - - [clearAllAnchorsButton.bottomAnchor - constraintEqualToAnchor:self.view.safeAreaLayoutGuide.bottomAnchor] - .active = YES; - [clearAllAnchorsButton.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; -} - -- (void)viewDidAppear:(BOOL)animated { - [super viewDidAppear:animated]; - - BOOL privacyNoticeAcknowledged = - [[NSUserDefaults standardUserDefaults] boolForKey:kPrivacyNoticeUserDefaultsKey]; - if (privacyNoticeAcknowledged) { - [self setUpARSession]; - return; - } - - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:kPrivacyNoticeTitle - message:kPrivacyNoticeText - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *getStartedAction = [UIAlertAction - actionWithTitle:@"Get started" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - [[NSUserDefaults standardUserDefaults] setBool:YES - forKey:kPrivacyNoticeUserDefaultsKey]; - [self setUpARSession]; - }]; - UIAlertAction *learnMoreAction = [UIAlertAction - actionWithTitle:@"Learn more" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - [[UIApplication sharedApplication] - openURL:[NSURL URLWithString:kPrivacyNoticeLearnMoreURL] - options:@{} - completionHandler:nil]; - }]; - [alertController addAction:getStartedAction]; - [alertController addAction:learnMoreAction]; - [self presentViewController:alertController animated:NO completion:nil]; -} - -- (void)showVPSUnavailableNotice { - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:kVPSAvailabilityTitle - message:kVPSAvailabilityText - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *continueAction = [UIAlertAction actionWithTitle:@"Continue" - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action){ - }]; - [alertController addAction:continueAction]; - [self presentViewController:alertController animated:NO completion:nil]; -} - -- (void)setUpARSession { - ARWorldTrackingConfiguration *configuration = [[ARWorldTrackingConfiguration alloc] init]; - configuration.worldAlignment = ARWorldAlignmentGravity; - // Optional. It will help the dynamic alignment of terrain anchors on ground. - configuration.planeDetection = ARPlaneDetectionHorizontal; - self.arSession.delegate = self; - // Start AR session - this will prompt for camera permissions the first time. - [self.arSession runWithConfiguration:configuration]; - - self.locationManager = [[CLLocationManager alloc] init]; - // This will cause either |locationManager:didChangeAuthorizationStatus:| or - // |locationManagerDidChangeAuthorization:| (depending on iOS version) to be called asynchronously - // on the main thread. After obtaining location permission, we will set up the ARCore session. - self.locationManager.delegate = self; -} - -- (void)checkLocationPermission { - CLAuthorizationStatus authorizationStatus; - if (@available(iOS 14.0, *)) { - authorizationStatus = self.locationManager.authorizationStatus; - } else { - authorizationStatus = [CLLocationManager authorizationStatus]; - } - if (authorizationStatus == kCLAuthorizationStatusAuthorizedAlways || - authorizationStatus == kCLAuthorizationStatusAuthorizedWhenInUse) { - if (@available(iOS 14.0, *)) { - if (self.locationManager.accuracyAuthorization != CLAccuracyAuthorizationFullAccuracy) { - [self setErrorStatus:@"Location permission not granted with full accuracy."]; - return; - } - } - // Request device location for check VPS availability. - [self.locationManager requestLocation]; - [self setUpGARSession]; - } else if (authorizationStatus == kCLAuthorizationStatusNotDetermined) { - // The app is responsible for obtaining the location permission prior to configuring the ARCore - // session. ARCore will not cause the location permission system prompt. - [self.locationManager requestWhenInUseAuthorization]; - } else { - [self setErrorStatus:@"Location permission denied or restricted."]; - } -} - -- (void)setErrorStatus:(NSString *)message { - self.statusLabel.text = message; - self.tapScreenLabel.hidden = YES; - self.clearAllAnchorsButton.hidden = YES; -} - -- (UIMenu *)anchorSettingsMenu { - void (^setAnchorMode)(__kindof UIAction *action) = ^(__kindof UIAction *action) { - if ([action.title isEqualToString:@"Rooftop"]) { - self.anchorMode = AnchorTypeRooftop; - } else if ([action.title isEqualToString:@"Terrain"]) { - self.anchorMode = AnchorTypeTerrain; - } else { - self.anchorMode = AnchorTypeGeospatial; - } - self.anchorModeSelector.menu = [self anchorSettingsMenu]; - }; - - NSArray *menuItems = @[ - [UIAction - actionWithTitle:[NSString stringWithFormat:@"%@%@", - (self.anchorMode == AnchorTypeGeospatial) ? @"✓ " - : @"", - @"Geospatial"] - image:nil - identifier:nil - handler:setAnchorMode], - [UIAction - actionWithTitle:[NSString - stringWithFormat:@"%@%@", - (self.anchorMode == AnchorTypeTerrain) ? @"✓ " : @"", - @"Terrain"] - image:nil - identifier:nil - handler:setAnchorMode], - [UIAction - actionWithTitle:[NSString - stringWithFormat:@"%@%@", - (self.anchorMode == AnchorTypeRooftop) ? @"✓ " : @"", - @"Rooftop"] - image:nil - identifier:nil - handler:setAnchorMode] - - ]; - return [UIMenu menuWithTitle:@"Anchor Type" children:menuItems]; -} - -- (SCNNode *)markerNodeForAnchorType:(AnchorType)anchorType { - NSURL *objURL = [[NSBundle mainBundle] URLForResource:@"geospatial_marker" withExtension:@"obj"]; - MDLAsset *markerAsset = [[MDLAsset alloc] initWithURL:objURL]; - MDLMesh *markerObject = (MDLMesh *)[markerAsset objectAtIndex:0]; - MDLMaterial *material = [[MDLMaterial alloc] initWithName:@"baseMaterial" - scatteringFunction:[[MDLScatteringFunction alloc] init]]; - NSURL *textureURL = - (anchorType == AnchorTypeGeospatial) - ? [[NSBundle mainBundle] URLForResource:@"spatial-marker-baked" withExtension:@"png"] - : [[NSBundle mainBundle] URLForResource:@"spatial-marker-yellow" withExtension:@"png"]; - MDLMaterialProperty *materialPropetry = - [[MDLMaterialProperty alloc] initWithName:@"texture" - semantic:MDLMaterialSemanticBaseColor - URL:textureURL]; - [material setProperty:materialPropetry]; - for (MDLSubmesh *submesh in markerObject.submeshes) { - submesh.material = material; - } - return [SCNNode nodeWithMDLObject:markerObject]; -} - -- (void)setUpGARSession { - if (self.garSession) { - return; - } - - NSError *error = nil; - self.garSession = [GARSession sessionWithAPIKey:@"your-api-key" - bundleIdentifier:nil - error:&error]; - if (error) { - [self setErrorStatus:[NSString - stringWithFormat:@"Failed to create GARSession: %d", (int)error.code]]; - return; - } - - self.localizationState = LocalizationStateFailed; - - if (![self.garSession isGeospatialModeSupported:GARGeospatialModeEnabled]) { - [self setErrorStatus:@"GARGeospatialModeEnabled is not supported on this device."]; - return; - } - - GARSessionConfiguration *configuration = [[GARSessionConfiguration alloc] init]; - configuration.geospatialMode = GARGeospatialModeEnabled; - configuration.streetscapeGeometryMode = self.isStreetscapeGeometryEnabled - ? GARStreetscapeGeometryModeEnabled - : GARStreetscapeGeometryModeDisabled; - [self.garSession setConfiguration:configuration error:&error]; - if (error) { - [self setErrorStatus:[NSString stringWithFormat:@"Failed to configure GARSession: %d", - (int)error.code]]; - return; - } - - self.localizationState = LocalizationStatePretracking; - self.lastStartLocalizationDate = [NSDate date]; -} - -- (void)checkVPSAvailabilityWithCoordinate:(CLLocationCoordinate2D)coordinate { - [self.garSession checkVPSAvailabilityAtCoordinate:coordinate - completionHandler:^(GARVPSAvailability availability) { - if (availability != GARVPSAvailabilityAvailable) { - [self showVPSUnavailableNotice]; - } - }]; -} - -- (void)addSavedAnchors { - NSUserDefaults *defaults = [NSUserDefaults standardUserDefaults]; - NSArray *> *savedAnchors = - [defaults arrayForKey:kSavedAnchorsUserDefaultsKey]; - for (NSDictionary *savedAnchor in savedAnchors) { - // Ignore the stored anchors that contain heading for backwards-compatibility. - if ([savedAnchor objectForKey:@"heading"]) { - continue; - } - CLLocationDegrees latitude = savedAnchor[@"latitude"].doubleValue; - CLLocationDegrees longitude = savedAnchor[@"longitude"].doubleValue; - simd_quatf eastUpSouthQTarget = - simd_quaternion((simd_float4){savedAnchor[@"x"].floatValue, savedAnchor[@"y"].floatValue, - savedAnchor[@"z"].floatValue, savedAnchor[@"w"].floatValue}); - if (AnchorTypeTerrain == [savedAnchor objectForKey:@"type"].intValue) { - [self addTerrainAnchorWithCoordinate:CLLocationCoordinate2DMake(latitude, longitude) - eastUpSouthQTarget:eastUpSouthQTarget - shouldSave:NO]; - } else if (AnchorTypeRooftop == [savedAnchor objectForKey:@"type"].intValue) { - [self addRooftopAnchorWithCoordinate:CLLocationCoordinate2DMake(latitude, longitude) - eastUpSouthQTarget:eastUpSouthQTarget - shouldSave:NO]; - } else { - CLLocationDistance altitude = savedAnchor[@"altitude"].doubleValue; - [self addAnchorWithCoordinate:CLLocationCoordinate2DMake(latitude, longitude) - altitude:altitude - eastUpSouthQTarget:eastUpSouthQTarget - shouldSave:NO]; - } - } -} - -- (void)updateLocalizationState { - // This will be nil if not currently tracking. - GARGeospatialTransform *geospatialTransform = self.garFrame.earth.cameraGeospatialTransform; - NSDate *now = [NSDate date]; - - if (self.garFrame.earth.earthState != GAREarthStateEnabled) { - self.localizationState = LocalizationStateFailed; - } else if (self.garFrame.earth.trackingState != GARTrackingStateTracking) { - self.localizationState = LocalizationStatePretracking; - } else { - if (self.localizationState == LocalizationStatePretracking) { - self.localizationState = LocalizationStateLocalizing; - } else if (self.localizationState == LocalizationStateLocalizing) { - if (geospatialTransform != nil && - geospatialTransform.horizontalAccuracy <= kHorizontalAccuracyLowThreshold && - geospatialTransform.orientationYawAccuracy <= kOrientationYawAccuracyLowThreshold) { - self.localizationState = LocalizationStateLocalized; - if (!self.restoredSavedAnchors) { - self.willRestoreSavedAnchors = YES; - self.restoredSavedAnchors = YES; - } - } else if ([now timeIntervalSinceDate:self.lastStartLocalizationDate] >= - kLocalizationFailureTime) { - self.localizationState = LocalizationStateFailed; - } - } else { - // Use higher thresholds for exiting 'localized' state to avoid flickering state changes. - if (geospatialTransform == nil || - geospatialTransform.horizontalAccuracy > kHorizontalAccuracyHighThreshold || - geospatialTransform.orientationYawAccuracy > kOrientationYawAccuracyHighThreshold) { - self.localizationState = LocalizationStateLocalizing; - self.lastStartLocalizationDate = now; - } - } - } -} - -- (void)saveAnchor:(CLLocationCoordinate2D)coordinate - eastUpSouthQTarget:(simd_quatf)eastUpSouthQTarget - anchorType:(AnchorType)anchorType - altitude:(CLLocationDistance)altitude { - NSUserDefaults *defaults = [NSUserDefaults standardUserDefaults]; - NSArray *> *savedAnchors = - [defaults arrayForKey:kSavedAnchorsUserDefaultsKey] ?: @[]; - NSMutableArray *> *newSavedAnchors = - [savedAnchors mutableCopy]; - - NSMutableDictionary *anchorProperties = [NSMutableDictionary dictionaryWithDictionary:@{ - @"latitude" : @(coordinate.latitude), - @"longitude" : @(coordinate.longitude), - @"type" : @(anchorType), - @"x" : @(eastUpSouthQTarget.vector[0]), - @"y" : @(eastUpSouthQTarget.vector[1]), - @"z" : @(eastUpSouthQTarget.vector[2]), - @"w" : @(eastUpSouthQTarget.vector[3]), - }]; - - if (anchorType == AnchorTypeGeospatial) { - [anchorProperties setObject:@(altitude) forKey:@"altitude"]; - } - - [newSavedAnchors addObject:anchorProperties]; - [defaults setObject:newSavedAnchors forKey:kSavedAnchorsUserDefaultsKey]; -} - -- (void)addMarkerNode:(GARAnchor *)anchor anchorType:(AnchorType)anchorType { - SCNNode *node = self.markerNodes[anchor.identifier]; - - node = [self markerNodeForAnchorType:anchorType]; - self.markerNodes[anchor.identifier] = node; - [self.scene.rootNode addChildNode:node]; - - [self updateMarkerNode:anchor]; -} - -- (void)updateMarkerNode:(GARAnchor *)anchor { - SCNNode *node = self.markerNodes[anchor.identifier]; - - if (!node) { - return; - } - // Rotate the virtual object 180 degrees around the Y axis to make the object face the GL - // camera -Z axis, since camera Z axis faces toward users. - simd_quatf rotationYquat = simd_quaternion(M_PI, (simd_float3){0, 1, 0}); - node.simdTransform = matrix_multiply(anchor.transform, simd_matrix4x4(rotationYquat)); - node.hidden = (self.localizationState != LocalizationStateLocalized); - - // Scale up anchors which are far from the camera. - SCNNode *cameraPosition = [SCNNode node]; - cameraPosition.simdTransform = self.arSession.currentFrame.camera.transform; - float distance = simd_distance(cameraPosition.simdPosition, node.simdPosition); - float scale = 1.0f + (simd_clamp(distance, 5.0f, 20.0f) - 5.0f) / 15.0f; - node.simdScale = simd_make_float3(scale, scale, scale); -} - -- (void)updateMarkerNodes { - NSMutableSet *currentAnchorIDs = [NSMutableSet set]; - @synchronized(self) { - for (GARAnchor *anchor in self.garFrame.anchors) { - [self updateMarkerNode:anchor]; - [currentAnchorIDs addObject:anchor.identifier]; - } - - // Remove nodes for anchors that are no longer tracking. - for (NSUUID *anchorID in self.markerNodes.allKeys) { - if (![currentAnchorIDs containsObject:anchorID]) { - SCNNode *node = self.markerNodes[anchorID]; - [node removeFromParentNode]; - [self.markerNodes removeObjectForKey:anchorID]; - } - } - - // Add saved anchors separately since they will not be present until the next GARFrame. - if (self.willRestoreSavedAnchors) { - [self addSavedAnchors]; - self.willRestoreSavedAnchors = NO; - } - } -} - -- (NSString *)stringFromGAREarthState:(GAREarthState)earthState { - switch (earthState) { - case GAREarthStateErrorInternal: - return @"ERROR_INTERNAL"; - case GAREarthStateErrorNotAuthorized: - return @"ERROR_NOT_AUTHORIZED"; - case GAREarthStateErrorResourceExhausted: - return @"ERROR_RESOURCE_EXHAUSTED"; - default: - return @"ENABLED"; - } -} - -- (void)updateTrackingLabel { - if (self.localizationState == LocalizationStateFailed) { - if (self.garFrame.earth.earthState != GAREarthStateEnabled) { - NSString *earthState = [self stringFromGAREarthState:self.garFrame.earth.earthState]; - self.trackingLabel.text = [NSString stringWithFormat:@"Bad EarthState: %@", earthState]; - } else { - self.trackingLabel.text = @""; - } - return; - } - - if (self.garFrame.earth.trackingState == GARTrackingStatePaused) { - self.trackingLabel.text = @"Not tracking."; - return; - } - - // This can't be nil if currently tracking and in a good EarthState. - GARGeospatialTransform *geospatialTransform = self.garFrame.earth.cameraGeospatialTransform; - - simd_quatf cameraQuaternion = geospatialTransform.eastUpSouthQTarget; - - // Note: the altitude value here is relative to the WGS84 ellipsoid (equivalent to - // |CLLocation.ellipsoidalAltitude|). - self.trackingLabel.text = [NSString - stringWithFormat:kGeospatialTransformFormat, geospatialTransform.coordinate.latitude, - geospatialTransform.coordinate.longitude, - geospatialTransform.horizontalAccuracy, geospatialTransform.altitude, - geospatialTransform.verticalAccuracy, cameraQuaternion.vector[0], - cameraQuaternion.vector[1], cameraQuaternion.vector[2], - cameraQuaternion.vector[3], geospatialTransform.orientationYawAccuracy]; -} - -- (void)updateStatusLabelAndButtons { - switch (self.localizationState) { - case LocalizationStateLocalized: { - if (self.resolveAnchorErrorMessage != nil) { - self.statusLabel.text = self.resolveAnchorErrorMessage; - } else if (self.garFrame.anchors.count == 0) { - self.statusLabel.text = kLocalizationComplete; - } else if (!self.islastClickedTerrainAnchorButton) { - self.statusLabel.text = [NSString - stringWithFormat:@"Num anchors: %d/%lu", - (int)self.garFrame.anchors.count + self.activeFutures, kMaxAnchors]; - } - self.clearAllAnchorsButton.hidden = (self.garFrame.anchors.count == 0); - self.tapScreenLabel.hidden = - (self.garFrame.anchors.count + self.activeFutures >= kMaxAnchors); - self.anchorModeSelector.hidden = NO; - break; - } - case LocalizationStatePretracking: - self.statusLabel.text = kPretrackingMessage; - break; - case LocalizationStateLocalizing: - self.statusLabel.text = kLocalizationTip; - self.tapScreenLabel.hidden = YES; - self.clearAllAnchorsButton.hidden = YES; - break; - case LocalizationStateFailed: - self.statusLabel.text = kLocalizationFailureMessage; - self.tapScreenLabel.hidden = YES; - self.clearAllAnchorsButton.hidden = YES; - self.anchorModeSelector.hidden = YES; - break; - } - - if (self.isStreetscapeGeometryEnabled != self.streetscapeGeometrySwitch.isOn) { - self.isStreetscapeGeometryEnabled = self.streetscapeGeometrySwitch.isOn; - NSError *error = nil; - GARSessionConfiguration *configuration = [[GARSessionConfiguration alloc] init]; - configuration.geospatialMode = GARGeospatialModeEnabled; - configuration.streetscapeGeometryMode = self.isStreetscapeGeometryEnabled - ? GARStreetscapeGeometryModeEnabled - : GARStreetscapeGeometryModeDisabled; - [self.garSession setConfiguration:configuration error:&error]; - if (self.isStreetscapeGeometryEnabled) { - self.streetscapeGeometryParentNode.hidden = NO; - } else { - self.streetscapeGeometryParentNode.hidden = YES; - } - } - - for (SCNNode *node in self.planeNodes) { - if (node) { - node.hidden = self.isStreetscapeGeometryEnabled; - } - } -} - -- (NSString *)terrainStateString:(GARTerrainAnchorState)terrainAnchorState { - switch (terrainAnchorState) { - case GARTerrainAnchorStateNone: - return @"None"; - case GARTerrainAnchorStateSuccess: - return @"Success"; - case GARTerrainAnchorStateErrorInternal: - return @"ErrorInternal"; - case GARTerrainAnchorStateTaskInProgress: - return @"TaskInProgress"; - case GARTerrainAnchorStateErrorNotAuthorized: - return @"ErrorNotAuthorized"; - case GARTerrainAnchorStateErrorUnsupportedLocation: - return @"UnsupportedLocation"; - default: - return @"Unknown"; - } -} - -- (NSString *)rooftopStateString:(GARRooftopAnchorState)rooftopAnchorState { - switch (rooftopAnchorState) { - case GARRooftopAnchorStateNone: - return @"None"; - case GARRooftopAnchorStateSuccess: - return @"Success"; - case GARRooftopAnchorStateErrorInternal: - return @"ErrorInternal"; - case GARRooftopAnchorStateErrorNotAuthorized: - return @"ErrorNotAuthorized"; - case GARRooftopAnchorStateErrorUnsupportedLocation: - return @"UnsupportedLocation"; - default: - return @"Unknown"; - } -} - -- (SCNNode *)streetscapeGeometryToSCNNode:(GARStreetscapeGeometry *)streetscapeGeometry { - GARMesh *mesh = streetscapeGeometry.mesh; - NSData *data = [NSData dataWithBytes:mesh.vertices length:mesh.vertexCount * sizeof(GARVertex)]; - - // Vertices are stored in a packed float array. - SCNGeometrySource *vertices = - [SCNGeometrySource geometrySourceWithData:data - semantic:SCNGeometrySourceSemanticVertex - vectorCount:mesh.vertexCount - floatComponents:YES - componentsPerVector:3 - bytesPerComponent:4 - dataOffset:0 - dataStride:12]; - - NSData *triangleData = [NSData dataWithBytes:mesh.triangles - length:mesh.triangleCount * sizeof(GARIndexTriangle)]; - SCNGeometryElement *indices = - [SCNGeometryElement geometryElementWithData:triangleData - primitiveType:SCNGeometryPrimitiveTypeTriangles - primitiveCount:mesh.triangleCount - bytesPerIndex:4]; - - SCNGeometry *geometry = [SCNGeometry geometryWithSources:@[ vertices ] elements:@[ indices ]]; - - SCNMaterial *material = geometry.materials.firstObject; - if (streetscapeGeometry.type == GARStreetscapeGeometryTypeTerrain) { - material.diffuse.contents = [UIColor colorWithRed:0 green:.5 blue:0 alpha:.7]; - material.doubleSided = NO; - } else { - NSArray *buildingColors = @[ - [UIColor colorWithRed:.7 green:0. blue:.7 alpha:.8], - [UIColor colorWithRed:.7 green:.7 blue:0 alpha:.8], - [UIColor colorWithRed:.0 green:.7 blue:.7 alpha:.8], - ]; - - UIColor *randomColor = buildingColors[arc4random() % buildingColors.count]; - material.diffuse.contents = randomColor; - material.blendMode = SCNBlendModeReplace; - material.doubleSided = NO; - } - - SCNGeometry *lineGeometry = [SCNGeometry geometryWithSources:@[ vertices ] elements:@[ indices ]]; - SCNMaterial *lineMaterial = lineGeometry.materials.firstObject; - lineMaterial.fillMode = SCNFillModeLines; - lineMaterial.diffuse.contents = [UIColor blackColor]; - SCNNode *node = [SCNNode nodeWithGeometry:geometry]; - [node addChildNode:[SCNNode nodeWithGeometry:lineGeometry]]; - return node; -} - -- (void)renderStreetscapeGeometries { - NSArray *streetscapeGeometries = [self.garFrame streetscapeGeometries]; - if (streetscapeGeometries) { - self.streetscapeGeometryParentNode.hidden = - (self.localizationState != LocalizationStateLocalized); - - // Add new streetscapeGeometries which are appearing for the first time. - for (GARStreetscapeGeometry *streetscapeGeometry in streetscapeGeometries) { - NSUUID *identifier = streetscapeGeometry.identifier; - if (![self.streetscapeGeometryNodes objectForKey:identifier]) { - SCNNode *node = [self streetscapeGeometryToSCNNode:streetscapeGeometry]; - [self.streetscapeGeometryNodes setObject:node forKey:identifier]; - [self.streetscapeGeometryParentNode addChildNode:node]; - } - - SCNNode *node = [self.streetscapeGeometryNodes objectForKey:streetscapeGeometry.identifier]; - node.simdTransform = streetscapeGeometry.meshTransform; - - // Hide geometries if not actively tracking. - if (streetscapeGeometry.trackingState == GARTrackingStateTracking) { - node.hidden = NO; - } else if (streetscapeGeometry.trackingState == GARTrackingStatePaused) { - node.hidden = YES; - } else { - // Removed permanently stopped geometries. - [self.streetscapeGeometryNodes[identifier] removeFromParentNode]; - [self.streetscapeGeometryNodes removeObjectForKey:identifier]; - } - } - } -} - -- (void)updateWithGARFrame:(GARFrame *)garFrame { - self.garFrame = garFrame; - [self updateLocalizationState]; - [self updateMarkerNodes]; - [self updateTrackingLabel]; - [self updateStatusLabelAndButtons]; - [self renderStreetscapeGeometries]; -} - -- (void)addAnchorWithCoordinate:(CLLocationCoordinate2D)coordinate - altitude:(CLLocationDistance)altitude - eastUpSouthQTarget:(simd_quatf)eastUpSouthQTarget - shouldSave:(BOOL)shouldSave { - // The return value of |createAnchorWithCoordinate:altitude:eastUpSouthQAnchor:error:| is just the - // first snapshot of the anchor (which is immutable). Use the updated snapshots in - // |GARFrame.anchors| to get updated values on a frame-by-frame basis. - NSError *error = nil; - GARAnchor *anchor = [self.garSession createAnchorWithCoordinate:coordinate - altitude:altitude - eastUpSouthQAnchor:eastUpSouthQTarget - error:&error]; - if (error) { - NSLog(@"Error adding anchor: %@", error); - return; - } - - [self addMarkerNode:anchor anchorType:AnchorTypeGeospatial]; - if (shouldSave) { - [self saveAnchor:coordinate - eastUpSouthQTarget:eastUpSouthQTarget - anchorType:AnchorTypeGeospatial - altitude:altitude]; - } -} - -- (void)addTerrainAnchorWithCoordinate:(CLLocationCoordinate2D)coordinate - eastUpSouthQTarget:(simd_quatf)eastUpSouthQTarget - shouldSave:(BOOL)shouldSave { - NSError *error = nil; - [self.garSession - createAnchorWithCoordinate:coordinate - altitudeAboveTerrain:0 - eastUpSouthQAnchor:eastUpSouthQTarget - completionHandler:^void(GARAnchor *anchor, GARTerrainAnchorState state) { - if (state != GARTerrainAnchorStateSuccess) { - self.resolveAnchorErrorMessage = - [NSString stringWithFormat:@"Error resolving terrain anchor: %@", - [self terrainStateString:state]]; - } else { - self.activeFutures--; - [self addMarkerNode:anchor anchorType:AnchorTypeTerrain]; - - dispatch_async(dispatch_get_global_queue(DISPATCH_QUEUE_PRIORITY_DEFAULT, 0), ^{ - if (shouldSave) { - [self saveAnchor:coordinate - eastUpSouthQTarget:eastUpSouthQTarget - anchorType:AnchorTypeTerrain - altitude:-1.0]; - } - }); - } - } - error:&error]; - - if (error) { - NSLog(@"Error adding anchor: %@", error); - if (error.code == GARSessionErrorCodeResourceExhausted) { - self.statusLabel.text = @"Too many terrain and rooftop anchors have already been held. Clear " - @"all anchors to create new ones."; - } - return; - } - self.activeFutures++; -} - -- (void)addRooftopAnchorWithCoordinate:(CLLocationCoordinate2D)coordinate - eastUpSouthQTarget:(simd_quatf)eastUpSouthQTarget - shouldSave:(BOOL)shouldSave { - NSError *error = nil; - [self.garSession - createAnchorWithCoordinate:coordinate - altitudeAboveRooftop:0 - eastUpSouthQAnchor:eastUpSouthQTarget - completionHandler:^void(GARAnchor *anchor, GARRooftopAnchorState state) { - self.activeFutures--; - if (state != GARRooftopAnchorStateSuccess) { - self.resolveAnchorErrorMessage = - [NSString stringWithFormat:@"Error resolving rooftop anchor: %@", - [self rooftopStateString:state]]; - } else { - [self addMarkerNode:anchor anchorType:AnchorTypeRooftop]; - dispatch_async(dispatch_get_global_queue(DISPATCH_QUEUE_PRIORITY_DEFAULT, 0), ^{ - if (shouldSave) { - [self saveAnchor:coordinate - eastUpSouthQTarget:eastUpSouthQTarget - anchorType:AnchorTypeRooftop - altitude:-1.0]; - } - }); - } - } - error:&error]; - - if (error) { - NSLog(@"Error adding anchor: %@", error); - if (error.code == GARSessionErrorCodeResourceExhausted) { - self.statusLabel.text = @"Too many terrain and rooftop anchors have already been held. Clear " - @"all anchors to create new ones."; - } - return; - } - self.activeFutures++; -} - -- (void)clearAllAnchorsButtonPressed { - for (GARAnchor *anchor in self.garFrame.anchors) { - [self.garSession removeAnchor:anchor]; - } - for (SCNNode *node in self.markerNodes.allValues) { - [node removeFromParentNode]; - } - [self.markerNodes removeAllObjects]; - [[NSUserDefaults standardUserDefaults] removeObjectForKey:kSavedAnchorsUserDefaultsKey]; - self.islastClickedTerrainAnchorButton = NO; -} - -- (void)touchesEnded:(NSSet *)touches withEvent:(UIEvent *)event { - if (touches.count < 1) { - return; - } - if (self.garFrame.anchors.count + self.activeFutures >= kMaxAnchors) { - return; - } - - NSError *error = nil; - UITouch *touch = [[touches allObjects] firstObject]; - CGPoint touchLocation = [touch locationInView:self.scnView]; - ARRaycastQuery *raycastQuery = - [self.scnView raycastQueryFromPoint:touchLocation - allowingTarget:ARRaycastTargetExistingPlaneGeometry - alignment:ARRaycastTargetAlignmentHorizontal]; - - if (self.streetscapeGeometrySwitch.isOn) { - NSArray *results = - [self.garSession raycastStreetscapeGeometry:raycastQuery.origin - direction:raycastQuery.direction - error:&error]; - if (error) { - NSLog(@"Error raycasting StreetscapeGeometry: %@", error); - return; - } - - if (results.count == 0) { - return; - } - GARStreetscapeGeometryRaycastResult *result = results[0]; - GARGeospatialTransform *geospatialTransform = - [self.garSession geospatialTransformFromTransform:result.worldTransform error:&error]; - if (error) { - NSLog(@"Error adding convert transform to GARGeospatialTransform: %@", error); - return; - } - - switch (self.anchorMode) { - case AnchorTypeGeospatial: { - GARAnchor *anchor = - [self.garSession createAnchorOnStreetscapeGeometry:result.streetscapeGeometry - transform:result.worldTransform - error:&error]; - if (error) { - NSLog(@"Error adding streetscape geometry anchor: %@", error); - return; - } - // Don't save anchors on StreetscapeGeometry between sessions. - [self addMarkerNode:anchor anchorType:AnchorTypeGeospatial]; - return; - } - case AnchorTypeTerrain: - // Terrain anchors will be positioned using both the Streetscape Geometry terrain data as - // well as any local ARKit planes, and may appear in a different location to geospatial - // anchors placed at the same location on the terrain mesh. - [self addTerrainAnchorWithCoordinate:geospatialTransform.coordinate - eastUpSouthQTarget:simd_quaternion(0.0f, 0.0f, 0.0f, 1.0f) - shouldSave:YES]; - return; - case AnchorTypeRooftop: - [self addRooftopAnchorWithCoordinate:geospatialTransform.coordinate - eastUpSouthQTarget:simd_quaternion(0.0f, 0.0f, 0.0f, 1.0f) - shouldSave:YES]; - return; - } - - } else { - NSArray *rayCastResults = [self.arSession raycast:raycastQuery]; - if (rayCastResults.count == 0) { - return; - } - - ARRaycastResult *result = rayCastResults.firstObject; - GARGeospatialTransform *geospatialTransform = - [self.garSession geospatialTransformFromTransform:result.worldTransform error:&error]; - if (error) { - NSLog(@"Error adding convert transform to GARGeospatialTransform: %@", error); - return; - } - - switch (self.anchorMode) { - case AnchorTypeGeospatial: - [self addAnchorWithCoordinate:geospatialTransform.coordinate - altitude:geospatialTransform.altitude - eastUpSouthQTarget:geospatialTransform.eastUpSouthQTarget - shouldSave:YES]; - return; - case AnchorTypeTerrain: - [self addTerrainAnchorWithCoordinate:geospatialTransform.coordinate - eastUpSouthQTarget:geospatialTransform.eastUpSouthQTarget - shouldSave:YES]; - return; - case AnchorTypeRooftop: - [self addRooftopAnchorWithCoordinate:geospatialTransform.coordinate - eastUpSouthQTarget:geospatialTransform.eastUpSouthQTarget - shouldSave:YES]; - return; - } - } -} - -#pragma mark - CLLocationManagerDelegate - -/** Authorization callback for iOS < 14. Deprecated, but needed until deployment target >= 14.0. */ -- (void)locationManager:(CLLocationManager *)locationManager - didChangeAuthorizationStatus:(CLAuthorizationStatus)status { - [self checkLocationPermission]; -} - -/** Authorization callback for iOS 14. */ -- (void)locationManagerDidChangeAuthorization:(CLLocationManager *)locationManager - API_AVAILABLE(ios(14.0)) { - [self checkLocationPermission]; -} - -- (void)locationManager:(CLLocationManager *)locationManager - didUpdateLocations:(NSArray *)locations { - CLLocation *location = locations.lastObject; - if (location) { - [self checkVPSAvailabilityWithCoordinate:location.coordinate]; - } -} - -- (void)locationManager:(CLLocationManager *)manager didFailWithError:(NSError *)error { - NSLog(@"Error get location: %@", error); -} - -#pragma mark - ARSCNViewDelegate -- (void)renderer:(id)renderer - didAddNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - ARSCNPlaneGeometry *planeGeometry = - [ARSCNPlaneGeometry planeGeometryWithDevice:self.scnView.device]; - [planeGeometry updateFromPlaneGeometry:planeAnchor.geometry]; - planeGeometry.materials.firstObject.diffuse.contents = [UIColor colorWithRed:0.0f - green:0.0f - blue:1.0f - alpha:0.7f]; - SCNNode *planeNode = [SCNNode nodeWithGeometry:planeGeometry]; - - [node addChildNode:planeNode]; - [self.planeNodes addObject:planeNode]; - } -} - -- (void)renderer:(id)renderer - didUpdateNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - SCNNode *planeNode = node.childNodes.firstObject; - [(ARSCNPlaneGeometry *)planeNode.geometry updateFromPlaneGeometry:planeAnchor.geometry]; - } -} - -- (void)renderer:(id)renderer - didRemoveNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - SCNNode *planeNode = node.childNodes.firstObject; - [planeNode removeFromParentNode]; - [self.planeNodes removeObject:planeNode]; - } -} - -#pragma mark - ARSessionDelegate - -- (void)session:(ARSession *)session didUpdateFrame:(ARFrame *)frame { - if (self.garSession == nil || self.localizationState == LocalizationStateFailed) { - return; - } - GARFrame *garFrame = [self.garSession update:frame error:nil]; - [self updateWithGARFrame:garFrame]; -} - -@end diff --git a/Examples/GeospatialExample/GeospatialExample/geospatial_marker.obj b/Examples/GeospatialExample/GeospatialExample/geospatial_marker.obj deleted file mode 100644 index 60f21be..0000000 --- a/Examples/GeospatialExample/GeospatialExample/geospatial_marker.obj +++ /dev/null @@ -1,30836 +0,0 @@ -# This file uses centimeters as units for non-parametric coordinates. - -mtllib geospatial_marker.mtl -g default -v 0.687553 0.161106 -0.698334 -v 0.615791 0.161106 -0.762367 -v 0.538105 0.161106 -0.819054 -v 0.455231 0.161106 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Copyright 2021 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -#import "AppDelegate.h" - -int main(int argc, char * argv[]) { - @autoreleasepool { - return UIApplicationMain(argc, argv, nil, NSStringFromClass([AppDelegate class])); - } -} diff --git a/Examples/GeospatialExample/Podfile b/Examples/GeospatialExample/Podfile index 3683124..ced122f 100644 --- a/Examples/GeospatialExample/Podfile +++ b/Examples/GeospatialExample/Podfile @@ -1,4 +1,4 @@ target 'GeospatialExample' use_frameworks! -platform :ios, '12.0' -pod 'ARCore/Geospatial', '~> 1.44.0' +platform :ios, '17.0' +pod 'ARCore/Geospatial', '~> 1.45.0' diff --git a/Examples/GeospatialExample/README b/Examples/GeospatialExample/README index edabd4f..cc060f9 100644 --- a/Examples/GeospatialExample/README +++ b/Examples/GeospatialExample/README @@ -36,5 +36,5 @@ cloud project and enable the [ARCore API](https://console.cloud.google.com/apis/ Make sure your API key is either unrestricted by app, or allows your specific bundle ID. -You will need to paste your API key into `ViewController.m` (search for -`sessionWithAPIKey:`). \ No newline at end of file +You will need to paste your API key into `GeospatialManager.swift` (search for +'apiKey'). \ No newline at end of file diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample.xcodeproj/project.pbxproj b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample.xcodeproj/project.pbxproj index 049c82a..d22fd0a 100644 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample.xcodeproj/project.pbxproj +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample.xcodeproj/project.pbxproj @@ -3,60 +3,37 @@ archiveVersion = 1; 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CLANG_ENABLE_MODULES = YES; CLANG_ENABLE_OBJC_ARC = YES; CLANG_ENABLE_OBJC_WEAK = YES; @@ -249,6 +189,7 @@ CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES; CLANG_WARN_OBJC_LITERAL_CONVERSION = YES; CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR; + CLANG_WARN_QUOTED_INCLUDE_IN_FRAMEWORK_HEADER = YES; CLANG_WARN_RANGE_LOOP_ANALYSIS = YES; CLANG_WARN_STRICT_PROTOTYPES = YES; CLANG_WARN_SUSPICIOUS_MOVE = YES; @@ -259,7 +200,8 @@ DEBUG_INFORMATION_FORMAT = dwarf; ENABLE_STRICT_OBJC_MSGSEND = YES; ENABLE_TESTABILITY = YES; - GCC_C_LANGUAGE_STANDARD = gnu11; + ENABLE_USER_SCRIPT_SANDBOXING = NO; + GCC_C_LANGUAGE_STANDARD = gnu17; GCC_DYNAMIC_NO_PIC = NO; GCC_NO_COMMON_BLOCKS = YES; GCC_OPTIMIZATION_LEVEL = 0; @@ -273,22 +215,25 @@ GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE; GCC_WARN_UNUSED_FUNCTION = YES; GCC_WARN_UNUSED_VARIABLE = YES; - IPHONEOS_DEPLOYMENT_TARGET = 13.6; + IPHONEOS_DEPLOYMENT_TARGET = 17.0; + LOCALIZATION_PREFERS_STRING_CATALOGS = YES; MTL_ENABLE_DEBUG_INFO = INCLUDE_SOURCE; MTL_FAST_MATH = YES; ONLY_ACTIVE_ARCH = YES; SDKROOT = iphoneos; + SWIFT_ACTIVE_COMPILATION_CONDITIONS = "DEBUG $(inherited)"; + SWIFT_OPTIMIZATION_LEVEL = "-Onone"; }; name = Debug; }; - 697CCCBC24FDDF680050EE98 /* Release */ = { + 3ED8A64C2C3322AA00871808 /* Release */ = { isa = XCBuildConfiguration; buildSettings = { ALWAYS_SEARCH_USER_PATHS = NO; + ASSETCATALOG_COMPILER_GENERATE_SWIFT_ASSET_SYMBOL_EXTENSIONS = YES; CLANG_ANALYZER_NONNULL = YES; CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE; - CLANG_CXX_LANGUAGE_STANDARD = "gnu++14"; - CLANG_CXX_LIBRARY = "libc++"; + CLANG_CXX_LANGUAGE_STANDARD = "gnu++20"; CLANG_ENABLE_MODULES = YES; CLANG_ENABLE_OBJC_ARC = YES; CLANG_ENABLE_OBJC_WEAK = YES; @@ -307,6 +252,7 @@ CLANG_WARN_OBJC_IMPLICIT_RETAIN_SELF = YES; CLANG_WARN_OBJC_LITERAL_CONVERSION = YES; CLANG_WARN_OBJC_ROOT_CLASS = YES_ERROR; + CLANG_WARN_QUOTED_INCLUDE_IN_FRAMEWORK_HEADER = YES; CLANG_WARN_RANGE_LOOP_ANALYSIS = YES; CLANG_WARN_STRICT_PROTOTYPES = YES; CLANG_WARN_SUSPICIOUS_MOVE = YES; @@ -317,7 +263,8 @@ DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym"; ENABLE_NS_ASSERTIONS = NO; ENABLE_STRICT_OBJC_MSGSEND = YES; - GCC_C_LANGUAGE_STANDARD = gnu11; + ENABLE_USER_SCRIPT_SANDBOXING = NO; + GCC_C_LANGUAGE_STANDARD = gnu17; GCC_NO_COMMON_BLOCKS = YES; GCC_WARN_64_TO_32_BIT_CONVERSION = YES; GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR; @@ -325,25 +272,36 @@ GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE; GCC_WARN_UNUSED_FUNCTION = YES; GCC_WARN_UNUSED_VARIABLE = YES; - IPHONEOS_DEPLOYMENT_TARGET = 13.6; + IPHONEOS_DEPLOYMENT_TARGET = 17.0; + LOCALIZATION_PREFERS_STRING_CATALOGS = YES; MTL_ENABLE_DEBUG_INFO = NO; MTL_FAST_MATH = YES; SDKROOT = iphoneos; + SWIFT_COMPILATION_MODE = wholemodule; VALIDATE_PRODUCT = YES; }; name = Release; }; - 697CCCBE24FDDF680050EE98 /* Debug */ = { + 3ED8A64E2C3322AA00871808 /* Debug */ = { isa = XCBuildConfiguration; buildSettings = { - ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; - CODE_SIGN_IDENTITY = "Apple Development"; - CODE_SIGN_STYLE = Automatic; - CURRENT_PROJECT_VERSION = 1.0; + ASSETCATALOG_COMPILER_APPICON_NAME = ""; + ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = ""; + CODE_SIGN_STYLE = Manual; + CURRENT_PROJECT_VERSION = 1; + DEVELOPMENT_ASSET_PATHS = ""; DEVELOPMENT_TEAM = ""; - ENABLE_BITCODE = NO; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; INFOPLIST_FILE = PersistentCloudAnchorExample/Info.plist; - IPHONEOS_DEPLOYMENT_TARGET = 11.3; + INFOPLIST_KEY_NSCameraUsageDescription = "This application will use the camera for Augmented Reality."; + INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; + INFOPLIST_KEY_UILaunchScreen_Generation = NO; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = arkit; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UIStatusBarHidden = NO; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; LD_RUNPATH_SEARCH_PATHS = ( "$(inherited)", "@executable_path/Frameworks", @@ -356,21 +314,32 @@ PRODUCT_BUNDLE_IDENTIFIER = com.google.ARPersistentCloudAnchor; PRODUCT_NAME = "$(TARGET_NAME)"; PROVISIONING_PROFILE_SPECIFIER = ""; + SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Debug; }; - 697CCCBF24FDDF680050EE98 /* Release */ = { + 3ED8A64F2C3322AA00871808 /* Release */ = { isa = XCBuildConfiguration; buildSettings = { - ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; - CODE_SIGN_IDENTITY = "Apple Development"; - CODE_SIGN_STYLE = Automatic; - CURRENT_PROJECT_VERSION = 1.0; + ASSETCATALOG_COMPILER_APPICON_NAME = ""; + ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = ""; + CODE_SIGN_STYLE = Manual; + CURRENT_PROJECT_VERSION = 1; + DEVELOPMENT_ASSET_PATHS = ""; DEVELOPMENT_TEAM = ""; - ENABLE_BITCODE = NO; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; INFOPLIST_FILE = PersistentCloudAnchorExample/Info.plist; - IPHONEOS_DEPLOYMENT_TARGET = 11.3; + INFOPLIST_KEY_NSCameraUsageDescription = "This application will use the camera for Augmented Reality."; + INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; + INFOPLIST_KEY_UILaunchScreen_Generation = NO; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = arkit; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UIStatusBarHidden = NO; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; LD_RUNPATH_SEARCH_PATHS = ( "$(inherited)", "@executable_path/Frameworks", @@ -383,6 +352,8 @@ PRODUCT_BUNDLE_IDENTIFIER = com.google.ARPersistentCloudAnchor; PRODUCT_NAME = "$(TARGET_NAME)"; PROVISIONING_PROFILE_SPECIFIER = ""; + SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Release; @@ -390,25 +361,25 @@ /* End XCBuildConfiguration section */ /* Begin XCConfigurationList section */ - 697CCC9F24FDDF670050EE98 /* Build configuration list for PBXProject "PersistentCloudAnchorExample" */ = { + 3ED8A63A2C3322A900871808 /* Build configuration list for PBXProject "PersistentCloudAnchorExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - 697CCCBB24FDDF680050EE98 /* Debug */, - 697CCCBC24FDDF680050EE98 /* Release */, + 3ED8A64B2C3322AA00871808 /* Debug */, + 3ED8A64C2C3322AA00871808 /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; - 697CCCBD24FDDF680050EE98 /* Build configuration list for PBXNativeTarget "PersistentCloudAnchorExample" */ = { + 3ED8A64D2C3322AA00871808 /* Build configuration list for PBXNativeTarget "PersistentCloudAnchorExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - 697CCCBE24FDDF680050EE98 /* Debug */, - 697CCCBF24FDDF680050EE98 /* Release */, + 3ED8A64E2C3322AA00871808 /* Debug */, + 3ED8A64F2C3322AA00871808 /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; /* End XCConfigurationList section */ }; - rootObject = 697CCC9C24FDDF670050EE98 /* Project object */; + rootObject = 3ED8A6372C3322A900871808 /* Project object */; } diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ARViewContainer.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ARViewContainer.swift new file mode 100644 index 0000000..93f1bda --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ARViewContainer.swift @@ -0,0 +1,161 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import RealityKit +import SwiftUI +import simd + +/// SwiftUI wrapper for an `ARView` and all rendering code. +struct ARViewContainer: UIViewRepresentable { + @EnvironmentObject var manager: CloudAnchorManager + + /// Coordinator to act as `ARSessionDelegate` for `ARView`. + class Coordinator: NSObject, ARSessionDelegate { + private enum Constants { + /// Name of USDZ file to load cloud anchor model from. + static let cloudAnchorName = "cloud_anchor" + /// Material for rendered planes. + static let planeMaterial = UnlitMaterial( + color: UIColor(red: 0, green: 0, blue: 1, alpha: 0.7)) + } + + private let manager: CloudAnchorManager + fileprivate let arView = ARView( + frame: .zero, cameraMode: .ar, automaticallyConfigureSession: false) + private let worldOrigin = AnchorEntity(world: matrix_identity_float4x4) + private var planeModels: [UUID: ModelEntity] = [:] + private var resolvedModels: [UUID: Entity] = [:] + private var hostedAnchorId: UUID? + private var hostedModel: Entity? + private var qualityIndicator: QualityIndicator? + private var startedHosting: Bool = false + + fileprivate init(manager: CloudAnchorManager) { + self.manager = manager + super.init() + arView.scene.addAnchor(worldOrigin) + arView.session.delegate = self + manager.startSession(arView: arView) + } + + private static func createCloudAnchorModel() -> Entity? { + return try? Entity.load(named: Constants.cloudAnchorName) + } + + private static func createPlaneMesh(for planeAnchor: ARPlaneAnchor) -> MeshResource? { + var descriptor = MeshDescriptor() + descriptor.positions = MeshBuffers.Positions(planeAnchor.geometry.vertices) + descriptor.primitives = .triangles(planeAnchor.geometry.triangleIndices.map { UInt32($0) }) + return try? MeshResource.generate(from: [descriptor]) + } + + private static func createPlaneModel(for planeAnchor: ARPlaneAnchor) -> ModelEntity? { + guard let mesh = createPlaneMesh(for: planeAnchor) else { + return nil + } + return ModelEntity(mesh: mesh, materials: [Constants.planeMaterial]) + } + + private static func updatePlaneModel(_ model: ModelEntity, planeAnchor: ARPlaneAnchor) { + guard let planeMesh = createPlaneMesh(for: planeAnchor) else { + return + } + model.model?.mesh = planeMesh + } + + func session(_ session: ARSession, didAdd anchors: [ARAnchor]) { + for anchor in anchors { + if anchor is AREnvironmentProbeAnchor { continue } + if let planeAnchor = (anchor as? ARPlaneAnchor) { + guard let model = Coordinator.createPlaneModel(for: planeAnchor) else { continue } + planeModels[planeAnchor.identifier] = model + let anchorEntity = AnchorEntity(.anchor(identifier: anchor.identifier)) + anchorEntity.addChild(model) + arView.scene.addAnchor(anchorEntity) + continue + } + guard let model = Coordinator.createCloudAnchorModel() else { continue } + hostedModel = model + hostedAnchorId = anchor.identifier + let anchorEntity = AnchorEntity(.anchor(identifier: anchor.identifier)) + anchorEntity.addChild(model) + qualityIndicator = QualityIndicator( + parent: model, isOnHorizontalPlane: manager.isOnHorizontalPlane) + arView.scene.addAnchor(anchorEntity) + } + } + + func session(_ session: ARSession, didUpdate anchors: [ARAnchor]) { + for anchor in anchors { + guard let planeAnchor = (anchor as? ARPlaneAnchor) else { continue } + guard let model = planeModels[planeAnchor.identifier] else { continue } + Coordinator.updatePlaneModel(model, planeAnchor: planeAnchor) + } + } + + func session(_ session: ARSession, didRemove anchors: [ARAnchor]) { + for anchor in anchors { + guard let planeAnchor = (anchor as? ARPlaneAnchor) else { continue } + let model = planeModels.removeValue(forKey: planeAnchor.identifier) + model?.parent?.removeFromParent() + } + } + + func session(_ session: ARSession, didUpdate frame: ARFrame) { + guard let garSession = manager.garSession, let garFrame = try? garSession.update(frame) else { + return + } + for garAnchor in garFrame.anchors { + if let model = resolvedModels[garAnchor.identifier] { + model.transform = Transform(matrix: garAnchor.transform) + continue + } + guard let model = Coordinator.createCloudAnchorModel() else { continue } + resolvedModels[garAnchor.identifier] = model + model.transform = Transform(matrix: garAnchor.transform) + worldOrigin.addChild(model) + } + + guard !startedHosting, frame.camera.trackingState == .normal, let hostedAnchorId, + let qualityIndicator, + let anchor = frame.anchors.first(where: { $0.identifier == hostedAnchorId }) + else { return } + let quality = + (try? garSession.estimateFeatureMapQualityForHosting(frame.camera.transform)) + ?? .insufficient + let anchorFromCamera = simd_mul(simd_inverse(anchor.transform), frame.camera.transform) + let (averageQuality, distance) = qualityIndicator.update( + quality: quality, anchorFromCamera: anchorFromCamera) + let didHost = manager.processFrame( + anchor: anchor, quality: quality, averageQuality: averageQuality, distance: distance) + if didHost { + startedHosting = true + } + } + } + + func makeUIView(context: Context) -> ARView { + return context.coordinator.arView + } + + func updateUIView(_ uiView: ARView, context: Context) {} + + func makeCoordinator() -> Coordinator { + Coordinator(manager: manager) + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AnchorInfo.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AnchorInfo.swift new file mode 100644 index 0000000..e4137e6 --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AnchorInfo.swift @@ -0,0 +1,22 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +/// Stored anchor info to be displayed in `ResolvePickerView`. +struct AnchorInfo: Identifiable { + let id: String + let name: String + let age: String +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.h deleted file mode 100644 index 7d2d991..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.h +++ /dev/null @@ -1,23 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -@interface AppDelegate : UIResponder - -@property(strong, nonatomic) UIWindow *window; - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.m deleted file mode 100644 index 196b018..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/AppDelegate.m +++ /dev/null @@ -1,37 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "AppDelegate.h" -#import "LobbyViewController.h" - -@implementation AppDelegate - -- (BOOL)application:(UIApplication *)application - didFinishLaunchingWithOptions:(NSDictionary *)launchOptions { - [UIApplication sharedApplication].idleTimerDisabled = YES; - - self.window = [[UIWindow alloc] init]; - - UIStoryboard *storyBoard = [UIStoryboard storyboardWithName:@"Main" bundle:nil]; - LobbyViewController *viewController = [storyBoard instantiateInitialViewController]; - self.window.rootViewController = viewController; - - [self.window makeKeyAndVisible]; - - return YES; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/LaunchScreen.storyboard b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/LaunchScreen.storyboard deleted file mode 100644 index 4191981..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/LaunchScreen.storyboard +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/Main.storyboard b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/Main.storyboard deleted file mode 100644 index aa5373a..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Base.lproj/Main.storyboard +++ /dev/null @@ -1,520 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.h deleted file mode 100644 index 29b18bf..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.h +++ /dev/null @@ -1,117 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import -#import - -@class CloudAnchorManager; -@class GARAnchor; -@class GARFrame; -@class GARHostCloudAnchorFuture; -@class GARResolveCloudAnchorFuture; -@class GARSession; - -typedef NS_ENUM(NSInteger, GARCloudAnchorState); - -NS_ASSUME_NONNULL_BEGIN - -/** - * Delegate for receiving callbacks from a CloudAnchorManager and the underlying GARSession. All - * methods are optional. - */ -@protocol CloudAnchorManagerDelegate -@required - -/** - * Invoked after the ARSessionDelegate#session:didUpdateFrame: method was called on the - * CloudAnchorManager, updated with the GARFrame generated by GARSession#update:error: - * - * @param manager The CloudAnchorManager which received the selector. - * @param garFrame The GARFrame object generated by GARSession using the ARFrame. - * @param tracking Whether the camera is tracking. - * @param cameraTransform The camera to world transform. - * @param anchors The local anchors in session. - * @param featureMapQuality The feature map quality value. - */ -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - didUpdateFrame:(GARFrame *)garFrame - tracking:(BOOL)tracking - cameraTransform:(simd_float4x4)cameraTransform - anchors:(NSArray *)anchors - featureMapQuality:(int)featureMapQuality; - -@end - -/** - * Helper class for asynchronously invoking optional ARSessionDelegate methods. - */ -@interface CloudAnchorManager : NSObject - -@property(nonatomic, weak) id delegate; - -/** - * Initialize an instance of CloudAnchorManager. - * - * @param session The session that the view uses to update the scene. - */ -- (instancetype)initWithARSession:(ARSession *)session; - -/** - * Host a Cloud Anchor corresponding to the given ARAnchor. - * - * @param arAnchor An ARAnchor object to be hosted within the hotspot generated by the session. - * @param completion Callback to invoke when the anchor has finished hosting. - * @param error A return address which an error will be written to, if one occurs. - * - * @return The hosting future, or `nil` if there is an error. - */ -- (GARHostCloudAnchorFuture *)hostCloudAnchor:(ARAnchor *)arAnchor - completion:(void (^)(NSString *_Nullable, - GARCloudAnchorState))completion - error:(NSError **)error; - -/** - * Attempt to resolve the last hosted anchor for the given anchor ids. If there is a cloud anchor - * id for the room code, the completion block will be called with a stub while the cloud anchor is - * resolved. - * - * @param anchorId Anchor cloud identifier. - * @param completion Callback to invoke when the anchor has finished resolving. - * @param error A return address which an error will be written to, if one occurs. - * - * @return The new GARAnchor, or `nil` if there is an error. - */ -- (GARResolveCloudAnchorFuture *)resolveAnchorWithAnchorId:(NSString *)anchorId - completion:(void (^)(GARAnchor *_Nullable, - GARCloudAnchorState))completion - error:(NSError **)error; -/** - * Remove the passed GARAnchor from the underlying GARSession - * - * @param anchor A GARAnchor object to be removed. - */ -- (void)removeAnchor:(GARAnchor *)anchor; - -/** - * Get the feature map quality value from ARFrame. - * - * @frame The current camera ARFrame. - */ -- (int)getFeatureMapQuality:(ARFrame *)frame; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.m deleted file mode 100644 index ffdc728..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.m +++ /dev/null @@ -1,108 +0,0 @@ -/* - * Copyright 2019 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "CloudAnchorManager.h" - -#import - -#import - -@interface CloudAnchorManager () - -// An ARSession from ARSCNView. -@property(nonatomic, weak) ARSession *session; - -// A GARSession which is used to host and resolve cloud anchors. Delegate methods are called on the -// delegate of the class instance. -@property(nonatomic, strong) GARSession *gSession; - -@end - -@implementation CloudAnchorManager - -- (instancetype)initWithARSession:(id)session { - if ((self = [super init])) { - _session = session; - _session.delegate = self; - - self.gSession = [GARSession sessionWithAPIKey:@"your-api-key" bundleIdentifier:nil error:nil]; - self.gSession.delegateQueue = dispatch_get_main_queue(); - } - - GARSessionConfiguration *configuration = [[GARSessionConfiguration alloc] init]; - configuration.cloudAnchorMode = GARCloudAnchorModeEnabled; - [self.gSession setConfiguration:configuration error:nil]; - - return self; -} - -#pragma mark - ARSessionDelegate - -- (void)session:(ARSession *)session didUpdateFrame:(ARFrame *)frame { - // Forward ARKit's update to ARCore session - GARFrame *garFrame = [self.gSession update:frame error:nil]; - int featureMapQuality = [self getFeatureMapQuality:frame]; - // Pass message to delegate for state management - [self.delegate cloudAnchorManager:self - didUpdateFrame:garFrame - tracking:frame.camera.trackingState == ARTrackingStateNormal - cameraTransform:frame.camera.transform - anchors:(NSArray *)frame.anchors - featureMapQuality:featureMapQuality]; -} - -#pragma mark - Helper Methods - -- (int)getFeatureMapQuality:(ARFrame *)frame { - NSError *error = nil; - // Can pass in ANY valid camera pose to the mapping quality API. Ideally, the pose should - // represent users’ expected perspectives. - GARFeatureMapQuality quality = - [self.gSession estimateFeatureMapQualityForHosting:frame.camera.transform error:&error]; - // GARSession errors have codes that are negative integers. Quality values are >= 0. - int code = error ? (int)error.code : (int)quality; - return code; -} - -#pragma mark - Public - -- (GARHostCloudAnchorFuture *)hostCloudAnchor:(ARAnchor *)arAnchor - completion:(void (^)(NSString *, GARCloudAnchorState))completion - error:(NSError **)error { - // Creating a Cloud Anchor with lifetime = 1 day. This is configurable up to 365 days. - // If you want TTL > 1, please use the constructor sessionWithError: and use setAuthToken:. - // Details can be found in - // https://developers.google.com/ar/develop/ios/persistent-cloud-anchors - return [self.gSession hostCloudAnchor:arAnchor - TTLDays:1 - completionHandler:completion - error:error]; -} - -- (GARResolveCloudAnchorFuture *)resolveAnchorWithAnchorId:(NSString *)anchorId - completion:(void (^)(GARAnchor *_Nullable, - GARCloudAnchorState))completion - error:(NSError **)error { - return [self.gSession resolveCloudAnchorWithIdentifier:anchorId - completionHandler:completion - error:error]; -} - -- (void)removeAnchor:(GARAnchor *)anchor { - [self.gSession removeAnchor:anchor]; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.swift new file mode 100644 index 0000000..122e016 --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorManager.swift @@ -0,0 +1,385 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import RealityKit +import simd + +/// Model object for hosting and resolving Cloud Anchors. +class CloudAnchorManager: ObservableObject { + private enum Constants { + /// Fill in your own API Key here. + static let apiKey = "your-api-key" + /// User defaults key for storing anchor creation timestamps. + static let timeDictionaryUserDefaultsKey = "NicknameTimeStampDictionary" + /// User defaults key for storing anchor IDs. + static let anchorIdDictionaryUserDefaultsKey = "NicknameAnchorIdDictionary" + /// User defaults key for storing privacy notice acceptance. + static let privacyNoticeUserDefaultsKey = "PrivacyNoticeAccepted" + /// Average quality threshold for hosting an anchor. + static let featureMapQualityThreshold: Float = 0.6 + /// Maximum distance from anchor (in meters) before displaying warning. + static let maxDistance: Float = 10 + /// Minimum distance from anchor (in meters) before displaying warning. + static let minDistance: Float = 0.2 + } + + /// Enum representing the child pages in the navigation stack. + enum Page { + case host + case resolvePicker + case resolve + } + + @Published var navigationPath: [Page] = [] { + willSet { + if newValue.count < navigationPath.count { + backButtonPressed() + } + } + } + @Published var showPrivacyNotice = false + @Published var showAnchorNameDialog = false + @Published var anchorNameDialogField = "" + @Published var messageLabel = "" + @Published var debugLabel = "" + + private var placedAnchor: Bool = false + var isOnHorizontalPlane: Bool = false + private var hostFuture: GARHostCloudAnchorFuture? + + private var resolvedAnchorIds: [String] = [] + private var resolveFutures: [GARResolveCloudAnchorFuture] = [] + + var garSession: GARSession? + private var arView: ARView? + + private func createGARSession() -> Bool { + do { + garSession = try GARSession(apiKey: Constants.apiKey, bundleIdentifier: nil) + } catch { + print("Failed to create GARSession: \(error)") + return false + } + let configuration = GARSessionConfiguration() + configuration.cloudAnchorMode = .enabled + var error: NSError? = nil + garSession?.setConfiguration(configuration, error: &error) + if let error { + print("Failed to configure GARSession: \(error)") + return false + } + return true + } + + private func runSession(trackPlanes: Bool) { + let configuration = ARWorldTrackingConfiguration() + configuration.worldAlignment = .gravity + if trackPlanes { + configuration.planeDetection = [.horizontal, .vertical] + } + arView?.session.run(configuration, options: .removeExistingAnchors) + } + + /// Start the `ARSession` when beginning to host or resolve. + /// + /// - Parameter arView: The `ARView` instance for this session. + func startSession(arView: ARView) { + self.arView = arView + // Only show planes in hosting mode. + runSession(trackPlanes: resolvedAnchorIds.isEmpty) + } + + /// Called when the user taps the "Begin hosting" button. Proceeds to host after checking the + /// privacy notice. + func beginHostingButtonPressed() { + resolvedAnchorIds = [] + checkPrivacyNotice() + } + + /// Called when the user taps a point on the `ARView`. In the appropriate state, places an anchor + /// by raycasting to hit a plane. + /// + /// - Parameter point: The point that was tapped within the `ARView`'s coordinate space. + func tapPoint(_ point: CGPoint) { + guard let arView, let frame = arView.session.currentFrame, + frame.camera.trackingState == .normal, resolvedAnchorIds.isEmpty, !placedAnchor + else { return } + + // Prefer existing planes to estimated ones. + let results = + arView.raycast(from: point, allowing: .existingPlaneGeometry, alignment: .horizontal) + + arView.raycast(from: point, allowing: .existingPlaneGeometry, alignment: .vertical) + + arView.raycast(from: point, allowing: .estimatedPlane, alignment: .horizontal) + + arView.raycast(from: point, allowing: .estimatedPlane, alignment: .vertical) + guard let result = results.first else { return } + + isOnHorizontalPlane = (result.targetAlignment == .horizontal) + let anchorTransform: simd_float4x4 + if isOnHorizontalPlane { + // Rotate raycast result around y axis to face user. + // Compute angle between camera position and raycast result's z axis. + let anchorFromCamera = simd_mul(simd_inverse(result.worldTransform), frame.camera.transform) + let x = anchorFromCamera.columns.3[0] + let z = anchorFromCamera.columns.3[2] + // Angle from the z axis, measured counterclockwise. + let angle = atan2f(x, z) + let rotation = simd_quatf(angle: angle, axis: simd_make_float3(0, 1, 0)) + anchorTransform = simd_mul(result.worldTransform, simd_matrix4x4(rotation)) + } else { + anchorTransform = result.worldTransform + } + let anchor = ARAnchor(transform: anchorTransform) + runSession(trackPlanes: false) // Disable planes when anchor is placed. + arView.session.add(anchor: anchor) + placedAnchor = true + messageLabel = "Save the object here by capturing it from all sides" + } + + private static func string(from quality: GARFeatureMapQuality) -> String { + switch quality { + case .good: + return "Good" + case .sufficient: + return "Sufficient" + default: + return "Insufficient" + } + } + + /// Called to process each tracking frame when an anchor is placed but not yet hosted. + /// + /// - Parameters: + /// - anchor: The current snapshot of the anchor to host. + /// - quality: The current feature map quality. + /// - averageQuality: The average of the mapping qualities displayed on the indicator. + /// - distance: The distance to the anchor. + /// - Returns: `true` if the anchor was hosted, `false` otherwise. + func processFrame( + anchor: ARAnchor, quality: GARFeatureMapQuality, averageQuality: Float, distance: Float + ) -> Bool { + guard let garSession, hostFuture == nil else { return false } + debugLabel = + "Current mapping quality: \(CloudAnchorManager.string(from: quality))" + if distance > Constants.maxDistance { + messageLabel = "You are too far; come closer" + } else if distance < Constants.minDistance { + messageLabel = "You are too close; move backward" + } else { + messageLabel = "Save the object here by capturing it from all sides" + } + + if averageQuality > Constants.featureMapQualityThreshold { + do { + hostFuture = try garSession.hostCloudAnchor(anchor, ttlDays: 1) { + [weak self] anchorId, cloudState in + guard let self else { return } + if cloudState == .success { + self.showAnchorNameDialog = true + self.anchorNameDialogField = "" + } + self.messageLabel = "Finished: \(CloudAnchorManager.string(from: cloudState))" + if let anchorId { + self.debugLabel = "Anchor \(anchorId) created" + } else { + self.debugLabel = "Anchor failed to host" + } + } + messageLabel = "Processing..." + debugLabel = "Feature map quality is sufficient, triggering hosting" + } catch { + print("Failed to start hosting process: \(error)") + } + return true + } + + return false + } + + private func backButtonPressed() { + guard let page = navigationPath.last else { return } + if page == .host || page == .resolve { + reset() + } + } + + /// Called when the user hits the "Begin resolving" button. + func beginResolvingButtonPressed() { + navigationPath.append(.resolvePicker) + } + + /// Called when the user hits the "Resolve" button. Proceeds to resolve after checking the privacy + /// notice. + /// + /// - Parameter anchorIds: The list of anchor IDs to resolve. + func resolveButtonPressed(anchorIds: [String]) { + resolvedAnchorIds = anchorIds + checkPrivacyNotice() + } + + /// Called when the user explicitly accepts the privacy notice. + func acceptPrivacyNotice() { + UserDefaults.standard.setValue(true, forKey: Constants.privacyNoticeUserDefaultsKey) + privacyNoticeAccepted() + } + + private func privacyNoticeAccepted() { + if resolvedAnchorIds.isEmpty { + hostAnchor() + } else { + resolveAnchors() + } + } + + private func checkPrivacyNotice() { + if UserDefaults.standard.bool(forKey: Constants.privacyNoticeUserDefaultsKey) { + privacyNoticeAccepted() + } else { + showPrivacyNotice = true + } + } + + /// Stores a newly hosted anchor's info after the user enters a name for it. + func saveAnchor() { + guard let anchorId = hostFuture?.resultCloudIdentifier, !anchorNameDialogField.isEmpty else { + return + } + var timeDictionary = + (UserDefaults.standard.dictionary(forKey: Constants.timeDictionaryUserDefaultsKey) + as? [String: Date]) ?? [:] + var anchorIdDictionary = + (UserDefaults.standard.dictionary(forKey: Constants.anchorIdDictionaryUserDefaultsKey) + as? [String: String]) ?? [:] + timeDictionary[anchorNameDialogField] = Date() + anchorIdDictionary[anchorNameDialogField] = anchorId + UserDefaults.standard.setValue(timeDictionary, forKey: Constants.timeDictionaryUserDefaultsKey) + UserDefaults.standard.setValue( + anchorIdDictionary, forKey: Constants.anchorIdDictionaryUserDefaultsKey) + } + + /// Gets the list of stored anchors, sorted by age, and removes any more than a day old. + func fetchAndPruneAnchors() -> [AnchorInfo] { + var timeDictionary = + (UserDefaults.standard.dictionary(forKey: Constants.timeDictionaryUserDefaultsKey) + as? [String: Date]) ?? [:] + var anchorIdDictionary = + (UserDefaults.standard.dictionary(forKey: Constants.anchorIdDictionaryUserDefaultsKey) + as? [String: String]) ?? [:] + var infos: [AnchorInfo] = [] + let now = Date() + for (name, time) in timeDictionary.sorted(by: { $0.1.compare($1.1) == .orderedDescending }) { + let timeInterval = now.timeIntervalSince(time) + if timeInterval >= 86400 { + timeDictionary.removeValue(forKey: name) + anchorIdDictionary.removeValue(forKey: name) + continue + } + guard let anchorId = anchorIdDictionary[name] else { continue } + let age = + timeInterval >= 3600 + ? "\(Int(floor(timeInterval / 3600)))h" : "\(Int(floor(timeInterval / 60)))m" + infos.append(AnchorInfo(id: anchorId, name: name, age: age)) + } + UserDefaults.standard.setValue(timeDictionary, forKey: Constants.timeDictionaryUserDefaultsKey) + UserDefaults.standard.setValue( + anchorIdDictionary, forKey: Constants.anchorIdDictionaryUserDefaultsKey) + return infos + } + + private static func string(from cloudState: GARCloudAnchorState) -> String { + switch cloudState { + case .none: + return "None" + case .success: + return "Success" + case .errorInternal: + return "ErrorInternal" + case .errorNotAuthorized: + return "ErrorNotAuthorized" + case .errorResourceExhausted: + return "ErrorResourceExhausted" + case .errorHostingDatasetProcessingFailed: + return "ErrorHostingDatasetProcessingFailed" + case .errorCloudIdNotFound: + return "ErrorCloudIdNotFound" + case .errorResolvingSdkVersionTooNew: + return "ErrorResolvingSdkVersionTooNew" + case .errorResolvingSdkVersionTooOld: + return "ErrorResolvingSdkVersionTooOld" + case .errorHostingServiceUnavailable: + return "ErrorHostingServiceUnavailable" + default: + // Not handling deprecated enum values that will never be returned. + return "Unknown" + } + } + + private func resolveAnchors() { + navigationPath.append(.resolve) + guard createGARSession(), let garSession else { + messageLabel = "Resolve failed" + debugLabel = "Failed to init GARSession" + return + } + messageLabel = "Resolving..." + debugLabel = "Attempting to resolve \(resolvedAnchorIds.count) anchors" + for anchorId in resolvedAnchorIds { + do { + resolveFutures.append( + try garSession.resolveCloudAnchor(anchorId) { [weak self] anchor, cloudState in + guard let self else { return } + if cloudState == .success { + self.debugLabel = "Resolved \(anchorId), continuing to refine pose" + } else { + self.debugLabel = + "Failed to resolve \(anchorId): " + + CloudAnchorManager.string(from: cloudState) + } + if self.resolveFutures.allSatisfy({ $0.state == .done }) { + self.messageLabel = "Resolve finished" + } + }) + } catch { + debugLabel = "Failed to start resolving operation: \(error)" + } + } + } + + private func hostAnchor() { + placedAnchor = false + navigationPath.append(.host) + guard createGARSession() else { + messageLabel = "Host failed" + debugLabel = "Failed to init GARSession" + return + } + messageLabel = "Tap to place an object." + debugLabel = "Tap a vertical or horizontal plane..." + } + + private func reset() { + for resolveFuture in resolveFutures { + resolveFuture.cancel() + } + resolveFutures.removeAll() + hostFuture?.cancel() + hostFuture = nil + arView?.session.pause() + arView = nil + garSession = nil + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorView.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorView.swift new file mode 100644 index 0000000..7c6c52e --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/CloudAnchorView.swift @@ -0,0 +1,69 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +/// View for hosting or resolving anchors. +struct CloudAnchorView: View { + @EnvironmentObject var manager: CloudAnchorManager + + var body: some View { + ZStack { + ARViewContainer() + .ignoresSafeArea() + .onTapGesture { manager.tapPoint($0) } + VStack { + Spacer() + .frame(height: 50) + ZStack { + Rectangle() + Text(manager.messageLabel) + .frame(width: 233, height: 50) + .font(.system(size: 17)) + .foregroundStyle(.white) + .lineLimit(3) + .multilineTextAlignment(.center) + } + .frame(width: 243, height: 60) + .opacity(0.5) + Spacer() + ZStack { + Rectangle() + Text(manager.debugLabel) + .padding(.leading) + .frame(maxWidth: .infinity, alignment: .leading) + .font(.system(size: 12)) + .foregroundStyle(.white) + .lineLimit(5) + .multilineTextAlignment(.leading) + } + .frame(height: 100) + .opacity(0.5) + } + .ignoresSafeArea(edges: .bottom) + } + .alert("Enter name", isPresented: $manager.showAnchorNameDialog) { + TextField("", text: $manager.anchorNameDialogField) + Button(role: .destructive) { + manager.saveAnchor() + } label: { + Text("OK") + } + } message: { + Text("Enter a name for your anchor ID (to be stored in local app storage)") + } + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ContentView.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ContentView.swift new file mode 100644 index 0000000..b52b7c0 --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ContentView.swift @@ -0,0 +1,98 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import RealityKit +import SwiftUI + +/// View for choosing hosting or resolving; root of navigation stack. +struct ContentView: View { + @StateObject var manager = CloudAnchorManager() + + var body: some View { + NavigationStack(path: $manager.navigationPath) { + VStack { + Text("Host a Cloud Anchor") + .frame(height: 33) + .font(.system(size: 27, weight: .bold)) + Text("Scan your space and create a new Cloud Anchor accessible by others") + .frame(width: 315, height: 45.5) + .font(.system(size: 19)) + .foregroundStyle(.secondary) + .multilineTextAlignment(.center) + Button { + manager.beginHostingButtonPressed() + } label: { + Text("Begin hosting") + .font(.system(size: 20)) + .padding(.horizontal) + .foregroundStyle(.white) + } + .buttonStyle(.borderedProminent) + .padding(.vertical) + Text("------------Or------------") + .font(.system(size: 19)) + Text("Resolve Cloud Anchor(s)") + .frame(height: 33) + .font(.system(size: 27, weight: .bold)) + .padding(.top) + Text("Localize this device against previously created Cloud Anchor(s)") + .frame(width: 315, height: 45.5) + .font(.system(size: 19)) + .foregroundStyle(.secondary) + .multilineTextAlignment(.center) + Button { + manager.beginResolvingButtonPressed() + } label: { + Text("Begin resolving") + .font(.system(size: 20)) + .padding(.horizontal) + .foregroundStyle(.white) + } + .buttonStyle(.borderedProminent) + .padding(.vertical) + } + .navigationDestination(for: CloudAnchorManager.Page.self) { page in + switch page { + case .host: + CloudAnchorView() + case .resolve: + CloudAnchorView() + case .resolvePicker: + ResolvePickerView() + } + } + } + .environmentObject(manager) + .alert("Experience it together", isPresented: $manager.showPrivacyNotice) { + Button(role: .destructive) { + manager.acceptPrivacyNotice() + } label: { + Text("Start now") + } + Link("Learn more", destination: URL(string: "https://developers.google.com/ar/data-privacy")!) + Button(role: .cancel) { + } label: { + Text("Not now") + } + } message: { + Text("To power this session, Google will process visual data from your camera.") + } + } +} + +#Preview { + ContentView() +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.h deleted file mode 100644 index c230de9..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -NS_ASSUME_NONNULL_BEGIN - -/** A bar showing the Feature Map Quality at a specific camera viewpoint. */ -@interface FeatureMapQualityBar : SCNNode - -/** - * Initialize a FeatureMapQualityBar object. - * - * @param radius The distance between the anchor and bar. - * @param angle The angle of bar relative to the anchor in radians. - * @param isHorizontal Whether the anchor is created on horizontal or vertical plane. - */ -- (instancetype)initWithRadius:(double)radius angle:(double)angle isHorizontal:(BOOL)isHorizontal; - -/** - * Update the color of FeatureMapQualityBar. - * - * @param featureMapQuality The mapping quality value. - */ -- (void)updateVisualization:(int)featureMapQuality; - -/** Get the quality value of the bar. */ -- (float)quality; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.m deleted file mode 100644 index 04c371f..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBar.m +++ /dev/null @@ -1,92 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "FeatureMapQualityBar.h" -#import - -static float const kCapsuleRadius = 0.006; -static float const kCapsuleHeight = 0.03; - -@interface FeatureMapQualityBar () - -@property(nonatomic) SCNNode *capsuleNode; -@property(nonatomic) int featureMapQuality; - -@end // interface FeatureMapQualityBar() - -@implementation FeatureMapQualityBar - -- (instancetype)initWithRadius:(double)radius angle:(double)angle isHorizontal:(BOOL)isHorizontal { - if ((self = [super init])) { - SCNCapsule *capsule = [SCNCapsule capsuleWithCapRadius:kCapsuleRadius height:kCapsuleHeight]; - capsule.materials.firstObject.diffuse.contents = [UIColor whiteColor]; - _capsuleNode = [SCNNode nodeWithGeometry:capsule]; - if (isHorizontal) { - _capsuleNode.position = - SCNVector3Make(radius * cos(angle), kCapsuleHeight / 2, radius * sin(angle)); - } else { - _capsuleNode.position = - SCNVector3Make(radius * cos(angle), radius * sin(angle), -kCapsuleHeight / 2); - _capsuleNode.eulerAngles = SCNVector3Make(-M_PI / 2, 0, 0); - } - [self addChildNode:_capsuleNode]; - } - return self; -} - -- (void)updateVisualization:(int)featureMapQuality { - [self updateQuality:featureMapQuality]; - - self.capsuleNode.geometry.firstMaterial.diffuse.contents = - [FeatureMapQualityBar colorForQuality:self.featureMapQuality]; -} - -- (void)updateQuality:(int)featureMapQuality { - switch (featureMapQuality) { - case 1: - self.featureMapQuality = MAX(1, self.featureMapQuality); - break; - case 2: - self.featureMapQuality = MAX(2, self.featureMapQuality); - break; - default: - self.featureMapQuality = MAX(0, self.featureMapQuality); - } -} - -- (float)quality { - switch (self.featureMapQuality) { - case 1: - return 0.5f; - case 2: - return 1.0f; - default: - return 0.f; - } -} - -+ (UIColor *)colorForQuality:(int)quality { - switch (quality) { - case 1: - return [UIColor yellowColor]; - case 2: - return [UIColor greenColor]; - default: - return [UIColor redColor]; - } -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.h deleted file mode 100644 index 4f4f58e..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.h +++ /dev/null @@ -1,45 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -NS_ASSUME_NONNULL_BEGIN - -/** A visualization of the feature map quality around the environment of the anchor. */ -@interface FeatureMapQualityBars : SCNNode - -/** - * Initialize a FeatureMapQualityBars object. - * - * @param radius The radius of the bars. - * @param isHorizontal Whether the anchor is created on horizontal or vertical plane. - */ -- (instancetype)initWithRadius:(double)radius isHorizontal:(BOOL)isHorizontal; - -/** - * Update the color of feature map quality bars . - * - * @param angle The rotation angle between projected anchorTCamera and x axis. - * @param featureMapQuality The feature map quality value. - */ -- (void)updateVisualization:(float)angle featureMapQuality:(int)featureMapQuality; - -/** Gets the average of mapping qualities of the bars. */ -- (float)featureMapQualityAvg; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.m deleted file mode 100644 index a0254b2..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityBars.m +++ /dev/null @@ -1,86 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "FeatureMapQualityBars.h" -#import -#import "FeatureMapQualityBar.h" - -// The bar spacing is 7.5 degrees in radians and covering range is M_PI . This value can be updated. -static float const kHorizontalBarNum = 25; -// The bar spacing is 7.5 degrees in radians and covering range is 5 * M_PI / 6. This value can be -// updated. -static float const kVerticalBarNum = 21; -static float const kSpacingRad = M_PI * (7.5 / 180); - -@interface FeatureMapQualityBars () - -/** The feature map quality bars array contains the indicator bars placed around the anchor. */ -@property(nonatomic) NSMutableArray *qualityBars; -@property(nonatomic) BOOL isHorizontal; - -@end // interface FeatureMapQualityBars() - -@implementation FeatureMapQualityBars - -- (instancetype)initWithRadius:(double)radius isHorizontal:(BOOL)isHorizontal { - if ((self = [super init])) { - _qualityBars = [NSMutableArray array]; - _isHorizontal = isHorizontal; - if (isHorizontal) { - for (int i = 0; i < kHorizontalBarNum; i++) { - double angle = i * kSpacingRad; - FeatureMapQualityBar *qualityBar = - [[FeatureMapQualityBar alloc] initWithRadius:radius - angle:angle - isHorizontal:isHorizontal]; - [_qualityBars addObject:qualityBar]; - [self addChildNode:qualityBar]; - } - } else { - for (int i = 0; i < kVerticalBarNum; i++) { - double angle = M_PI / 12 + i * kSpacingRad; - FeatureMapQualityBar *qualityBar = - [[FeatureMapQualityBar alloc] initWithRadius:radius - angle:angle - isHorizontal:isHorizontal]; - - [_qualityBars addObject:qualityBar]; - [self addChildNode:qualityBar]; - } - } - } - return self; -} - -- (void)updateVisualization:(float)angle featureMapQuality:(int)featureMapQuality { - int barNum = self.isHorizontal ? kHorizontalBarNum : kVerticalBarNum; - float angleWithGap = self.isHorizontal ? angle : angle - M_PI / 12; - int barIndex = (int)(angleWithGap / kSpacingRad); - if (barIndex >= 0 && barIndex < barNum) { - FeatureMapQualityBar *qualityBar = self.qualityBars[barIndex]; - [qualityBar updateVisualization:featureMapQuality]; - } -} - -- (float)featureMapQualityAvg { - float sum = 0.f; - for (FeatureMapQualityBar *qualityBar in self.qualityBars) { - sum += [qualityBar quality]; - } - return sum / self.qualityBars.count; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.h deleted file mode 100644 index 6694b39..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -NS_ASSUME_NONNULL_BEGIN - -/** A visualization of a half circle around the anchor. */ -@interface FeatureMapQualityRing : SCNNode - -/** - * Initialize a FeatureMapQualityRing object. - * - * @param radius The radius of the ring. - * @param isHorizontal Whether the anchor is created on horizontal plane. - */ -- (instancetype)initWithRadius:(double)radius isHorizontal:(BOOL)isHorizontal; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.m deleted file mode 100644 index 759e0e5..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/FeatureMapQualityRing.m +++ /dev/null @@ -1,58 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "FeatureMapQualityRing.h" -#import - -static float const kPipeRadius = 0.001; - -@implementation FeatureMapQualityRing - -- (instancetype)initWithRadius:(double)radius isHorizontal:(BOOL)isHorizontal { - if ((self = [super init])) { - SCNTorus *torus = [SCNTorus torusWithRingRadius:radius pipeRadius:kPipeRadius]; - torus.firstMaterial.diffuse.contents = [FeatureMapQualityRing createUIImage]; - SCNNode *torusNode = [SCNNode nodeWithGeometry:torus]; - if (!isHorizontal) { - torusNode.eulerAngles = SCNVector3Make(-M_PI / 2, 0, 0); - } - [self addChildNode:torusNode]; - } - return self; -} - -/** Create the texture image for torus node. */ -+ (UIImage *)createUIImage { - CGSize imageSize = CGSizeMake(100, 100); - CGRect imageRect = CGRectMake(0, 0, imageSize.width, imageSize.height); - UIGraphicsBeginImageContextWithOptions(imageRect.size, NO, 0); - - CGContextRef context = UIGraphicsGetCurrentContext(); - - // Create a transparent background. - CGContextClearRect(context, imageRect); - - CGRect smallRect = CGRectMake(imageSize.width / 4, 0.0f, imageSize.width / 2, imageSize.height); - CGContextSetFillColorWithColor(context, [UIColor.whiteColor CGColor]); - CGContextFillRect(context, smallRect); - - UIImage *image = UIGraphicsGetImageFromCurrentImageContext(); - UIGraphicsEndImageContext(); - - return image; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.h deleted file mode 100644 index 5398d06..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.h +++ /dev/null @@ -1,29 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "HostViewController.h" - -NS_ASSUME_NONNULL_BEGIN - -/** ViewController for saving the nickname of the anchor id alert. */ -@interface HostViewController (Alert) - -/** Sends a save anchor alert to the screen. */ -- (void)sendSaveAlert:(NSString *)anchorId; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.m deleted file mode 100644 index d541ac7..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController+Alert.m +++ /dev/null @@ -1,75 +0,0 @@ -/* - * Copyright 2019 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "HostViewController+Alert.h" - -static NSString *const kSaveAnchorAlertTitle = @"Enter name"; -static NSString *const kAlertMessage = - @"Enter a name for your anchor ID(to be stored in local app storage)"; -static NSString *const kSaveAnchorAlertOkButtonText = @"OK"; -static NSString *const kNicknameTimeStampDictionary = @"NicknameTimeStampDictionary"; -static NSString *const kNicknameAnchorIdDictionary = @"NicknameAnchorIdDictionary"; - -@implementation HostViewController (Alert) - -- (void)sendSaveAlert:(NSString *)anchorId { - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:kSaveAnchorAlertTitle - message:kAlertMessage - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *okAction = - [UIAlertAction actionWithTitle:kSaveAnchorAlertOkButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - NSString *anchorNickName = alertController.textFields[0].text; - if ([anchorNickName length] > 0) { - [self saveAnchorNickName:anchorNickName anchorId:anchorId]; - } - }]; - [alertController addAction:okAction]; - [alertController addTextFieldWithConfigurationHandler: ^(UITextField *textField) { - NSDictionary *table = [[NSUserDefaults standardUserDefaults] - dictionaryForKey:kNicknameTimeStampDictionary]; - textField.placeholder = [NSString stringWithFormat:@"Anchor%lu", [table count] + 1]; - }]; - - [self presentViewController:alertController animated:YES completion:nil]; -} - -#pragma mark - Helper Methods - -- (void)saveAnchorNickName:(NSString *)nickName anchorId:(NSString *)anchorId { - NSMutableDictionary *table1 = [[[NSUserDefaults standardUserDefaults] - dictionaryForKey:kNicknameTimeStampDictionary] mutableCopy]; - NSMutableDictionary *nickNameToTimeStampDictionary = - table1 ? table1 : [[NSMutableDictionary alloc] init]; - - NSMutableDictionary *table2 = [[[NSUserDefaults standardUserDefaults] - dictionaryForKey:kNicknameAnchorIdDictionary] mutableCopy]; - NSMutableDictionary *nicknameAnchorIdDictionary = - table2 ? table2 : [[NSMutableDictionary alloc] init]; - - nickNameToTimeStampDictionary[nickName] = [NSDate date]; - nicknameAnchorIdDictionary[nickName] = anchorId; - [[NSUserDefaults standardUserDefaults] setObject:nickNameToTimeStampDictionary - forKey:kNicknameTimeStampDictionary]; - [[NSUserDefaults standardUserDefaults] setObject:nicknameAnchorIdDictionary - forKey:kNicknameAnchorIdDictionary]; - - [[NSUserDefaults standardUserDefaults] synchronize]; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.h deleted file mode 100644 index 421c123..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.h +++ /dev/null @@ -1,55 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import -#import -#import - -#import "CloudAnchorManager.h" - -#import - -#import - -/** Possible values of HostViewController state. */ -typedef NS_ENUM(NSInteger, HostState) { - HostStateDefault, - HostStateAnchorCreated, - HostStateHosting, - HostStateFinished -}; - -NS_ASSUME_NONNULL_BEGIN - -/** ViewController for the host cloud anchor view. */ -@interface HostViewController : UIViewController - -@property(nonatomic, strong) IBOutlet ARSCNView *sceneView; -@property(nonatomic, strong) IBOutlet UILabel *messageLabel; -@property(nonatomic, strong) IBOutlet UILabel *debugLabel; -// Local anchor created by hitTest. -@property(nonatomic, strong, nullable) ARAnchor *arAnchor; -@property(nonatomic, strong, nullable) GARHostCloudAnchorFuture *hostFuture; -@property(nonatomic, assign) HostState state; -@property(nonatomic, strong) NSString *cloudAnchorId; -@property(nonatomic, strong) NSString *message; -@property(nonatomic, strong) NSString *debugMessage; -// Cloud Anchor Manager manages interaction between GARSession and ARSession. -@property(nonatomic, strong) CloudAnchorManager *cloudAnchorManager; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.m deleted file mode 100644 index b6295e0..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/HostViewController.m +++ /dev/null @@ -1,332 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "HostViewController.h" - -#import "FeatureMapQualityBars.h" -#import "FeatureMapQualityRing.h" -#import "HostViewController+Alert.h" - -static float const kFeatureMapQualityThreshold = 0.6; -static float const kRadius = 0.2; -static float const kPlaneColor[] = {0.f, 0.f, 1.0f, 0.7f}; -static float const kMaxDistance = 10; -static int const kSecToMilliseconds = 1000; -static NSString *const kDebugMessagePrefix = @"Debug panel\n"; - -@interface HostViewController () - -@property(nonatomic) NSMutableArray *qualityBars; -@property(nonatomic) FeatureMapQualityBars *featureMapQualityBars; -@property(nonatomic) BOOL anchorPlaced; -@property(nonatomic) BOOL hitHorizontalPlane; -@property(nonatomic) NSUUID *anchorIdentifier; -@property(nonatomic) simd_float4x4 cameraTransform; -@property(nonatomic) NSDate *hostBeginDate; - -@end - -#pragma mark - Overriding UIViewController - -@implementation HostViewController - -- (void)viewDidLoad { - [super viewDidLoad]; - - [self.messageLabel setNumberOfLines:3]; - [self.debugLabel setNumberOfLines:3]; - _hitHorizontalPlane = YES; - self.cloudAnchorManager = [[CloudAnchorManager alloc] initWithARSession:self.sceneView.session]; - self.cloudAnchorManager.delegate = self; - self.sceneView.delegate = self; - [self runSession]; - [self enterState:HostStateDefault]; -} - -// Create an anchor using a hit test with plane. -- (void)touchesEnded:(NSSet *)touches withEvent:(UIEvent *)event { - if (touches.count < 1 || self.state != HostStateDefault) { - return; - } - UITouch *touch = [[touches allObjects] firstObject]; - CGPoint touchLocation = [touch locationInView:self.sceneView]; - ARHitTestResultType hitTestResultTypes = - ARHitTestResultTypeExistingPlaneUsingExtent | ARHitTestResultTypeEstimatedHorizontalPlane; - hitTestResultTypes = hitTestResultTypes | ARHitTestResultTypeEstimatedVerticalPlane; - NSArray *hitTestResults = [self.sceneView hitTest:touchLocation - types:hitTestResultTypes]; - - if (hitTestResults.count > 0) { - ARHitTestResult *result = [hitTestResults firstObject]; - if ([result.anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)result.anchor; - self.hitHorizontalPlane = planeAnchor.alignment == ARPlaneAnchorAlignmentHorizontal; - } - - float angle = 0; - if (self.hitHorizontalPlane) { - // Rotate anchor around y axis to face user. - // Compute angle between camera view ray and anchor's z axis. - simd_float4x4 anchorTCamera = - simd_mul(simd_inverse(result.worldTransform), self.cameraTransform); - float x = anchorTCamera.columns[3][0]; - // TODO(b/251453188): Fix unused variable - float __unused y = anchorTCamera.columns[3][1]; - float z = anchorTCamera.columns[3][2]; - // Angle from the z axis, measured counterclockwise. - float angle = atan2f(x, z); - angle = z > 0 ? angle : angle + M_PI; - } - SCNMatrix4 rotation = SCNMatrix4MakeRotation(angle, 0, 1, 0); - matrix_float4x4 rotateAnchor = simd_mul(result.worldTransform, SCNMatrix4ToMat4(rotation)); - [self addAnchorWithTransform:rotateAnchor]; - } - [self enterState:HostStateAnchorCreated]; - self.anchorPlaced = YES; -} - -#pragma mark - Anchor Hosting - -- (void)addAnchorWithTransform:(matrix_float4x4)transform { - self.arAnchor = [[ARAnchor alloc] initWithTransform:transform]; - self.anchorIdentifier = self.arAnchor.identifier; - [self.sceneView.session addAnchor:self.arAnchor]; -} - -#pragma mark - Helper Methods - -- (void)runSession { - ARWorldTrackingConfiguration *configuration = [[ARWorldTrackingConfiguration alloc] init]; - [configuration setWorldAlignment:ARWorldAlignmentGravity]; - [configuration setPlaneDetection:ARPlaneDetectionHorizontal | ARPlaneDetectionVertical]; - - [self.sceneView.session runWithConfiguration:configuration]; -} - -- (void)enterState:(HostState)state { - switch (state) { - case HostStateDefault: - self.message = @"Tap to place an object."; - self.debugMessage = @"Tap a vertical or horizontal plane..."; - break; - case HostStateAnchorCreated: - self.message = @"Save the object here by capturing it from all sides"; - self.debugMessage = @"Average mapping quality: "; - break; - case HostStateHosting: - self.message = @"Processing..."; - self.debugMessage = @"GARFeatureMapQuality average has reached Sufficient-Good, triggering " - @"hostCloudAnchor:TTLDays:error"; - break; - case HostStateFinished: - self.message = [NSString - stringWithFormat:@"Finished: %@", - [self cloudStateString:self.hostFuture.resultCloudAnchorState]]; - if (self.hostFuture.resultCloudIdentifier) { - self.debugMessage = - [NSString stringWithFormat:@"Anchor %@ created", self.hostFuture.resultCloudIdentifier]; - } else { - self.debugMessage = @"Anchor failed to host"; - } - break; - } - self.state = state; - [self updateMessageLabel]; -} - -- (void)updateMessageLabel { - [self.messageLabel setText:self.message]; - [self.debugLabel setText:[kDebugMessagePrefix stringByAppendingString:self.debugMessage]]; -} - -- (void)updateDebugMessageLabel:(int)quality { - NSString *featureMapQualityMessage = - [NSString stringWithFormat:[self.debugMessage stringByAppendingString:@"%@"], - [self getStringFromQuality:quality]]; - [self.debugLabel setText:[kDebugMessagePrefix stringByAppendingString:featureMapQualityMessage]]; -} - -- (NSString *)getStringFromQuality:(int)quality { - switch (quality) { - case 1: - return @"Sufficient"; - case 2: - return @"Good"; - default: - return @"Insufficient"; - } -} - -- (NSString *)cloudStateString:(GARCloudAnchorState)cloudState { - switch (cloudState) { - case GARCloudAnchorStateNone: - return @"None"; - case GARCloudAnchorStateSuccess: - return @"Success"; - case GARCloudAnchorStateErrorInternal: - return @"ErrorInternal"; - case GARCloudAnchorStateTaskInProgress: - return @"TaskInProgress"; - case GARCloudAnchorStateErrorNotAuthorized: - return @"ErrorNotAuthorized"; - case GARCloudAnchorStateErrorResourceExhausted: - return @"ErrorResourceExhausted"; - case GARCloudAnchorStateErrorHostingDatasetProcessingFailed: - return @"ErrorHostingDatasetProcessingFailed"; - case GARCloudAnchorStateErrorCloudIdNotFound: - return @"ErrorCloudIdNotFound"; - case GARCloudAnchorStateErrorHostingServiceUnavailable: - return @"ErrorHostingServiceUnavailable"; - default: - return @"Unknown"; - } -} - -// Helper method to generate an SCNNode with Android geometry. -// Note: Horizontal and vertical planes have slightly different hosting UIs for better -// visualization. -- (SCNNode *)cloudAnchorNode { - SCNScene *scene = [SCNScene sceneNamed:@"example.scnassets/cloud_anchor.scn"]; - SCNNode *anchorNode = [[scene rootNode] childNodeWithName:@"cloud_anchor" recursively:NO]; - // Adaptive UI is drawn here, using the values from the mapping quality API. - FeatureMapQualityRing *ringNode = - [[FeatureMapQualityRing alloc] initWithRadius:kRadius isHorizontal:self.hitHorizontalPlane]; - [anchorNode addChildNode:ringNode]; - self.featureMapQualityBars = - [[FeatureMapQualityBars alloc] initWithRadius:kRadius isHorizontal:self.hitHorizontalPlane]; - [anchorNode addChildNode:self.featureMapQualityBars]; - return anchorNode; -} - -#pragma mark - CloudAnchorManagerDelegate - -- (void)handleHostAnchor:(NSString *)anchorId cloudState:(GARCloudAnchorState)cloudState { - if (cloudState == GARCloudAnchorStateSuccess) { - double durationSec = [[NSDate date] timeIntervalSinceDate:self.hostBeginDate]; - NSLog(@"Time taken to complete hosting process: %f ms", durationSec * kSecToMilliseconds); - [self sendSaveAlert:anchorId]; - } - [self enterState:HostStateFinished]; -} - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - didUpdateFrame:(GARFrame *)garFrame - tracking:(BOOL)tracking - cameraTransform:(simd_float4x4)cameraTransform - anchors:(NSArray *)anchors - featureMapQuality:(int)featureMapQuality { - if (self.state != HostStateAnchorCreated || !tracking) { - return; - } - self.cameraTransform = cameraTransform; - [self updateDebugMessageLabel:featureMapQuality]; - // Host Anchor automatically once the feature map quality exceeds the desired threshold. - float avg = [self.featureMapQualityBars featureMapQualityAvg]; - NSLog(@"History of average mapping quality calls: %f", avg); - if (avg > kFeatureMapQualityThreshold) { - __weak HostViewController *weakSelf = self; - self.hostFuture = [self.cloudAnchorManager - hostCloudAnchor:self.arAnchor - completion:^(NSString *anchorId, GARCloudAnchorState cloudState) { - [weakSelf handleHostAnchor:anchorId cloudState:cloudState]; - } - error:nil]; - [self enterState:HostStateHosting]; - self.hostBeginDate = [NSDate date]; - return; - } - - if (!self.featureMapQualityBars) { - return; - } - for (ARAnchor *anchor in anchors) { - if ([anchor.identifier isEqual:self.anchorIdentifier]) { - simd_float4x4 anchorTCamera = simd_mul(simd_inverse(anchor.transform), cameraTransform); - float x = anchorTCamera.columns[3][0]; - float y = anchorTCamera.columns[3][1]; - float z = anchorTCamera.columns[3][2]; - // Angle from the x axis, measured clockwise. - float angle = self.hitHorizontalPlane ? atan2f(z, x) : atan2f(y, x); - [self.featureMapQualityBars updateVisualization:angle featureMapQuality:featureMapQuality]; - float distance = self.hitHorizontalPlane ? sqrt(z * z + x * x) : sqrt(y * y + x * x); - if (distance > kMaxDistance) { - self.message = @"You are too far; come closer"; - } else if (distance < kRadius) { - self.message = @"You are too close; move backward"; - } else { - self.message = @"Save the object here by capturing it from all sides"; - } - [self.messageLabel setText:self.message]; - break; - } - } -} - -#pragma mark - ARSCNViewDelegate - -- (SCNNode *)renderer:(id)renderer nodeForAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]] == NO) { - return [self cloudAnchorNode]; - } else { - return [SCNNode node]; - } -} - -- (void)renderer:(id)renderer - didAddNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - ARSCNPlaneGeometry *planeGeometry = - [ARSCNPlaneGeometry planeGeometryWithDevice:_sceneView.device]; - [planeGeometry updateFromPlaneGeometry:planeAnchor.geometry]; - planeGeometry.materials.firstObject.diffuse.contents = [UIColor colorWithRed:kPlaneColor[0] - green:kPlaneColor[1] - blue:kPlaneColor[2] - alpha:kPlaneColor[3]]; - SCNNode *planeNode = [SCNNode nodeWithGeometry:planeGeometry]; - - [node addChildNode:planeNode]; - } -} - -- (void)renderer:(id)renderer - didUpdateNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - // Remove plane visualization after anchor placed. - if (self.anchorPlaced) { - SCNNode *planeNode = node.childNodes.firstObject; - [planeNode removeFromParentNode]; - } else { - ARPlaneAnchor *planeAnchor = (ARPlaneAnchor *)anchor; - - SCNNode *planeNode = node.childNodes.firstObject; - [(ARSCNPlaneGeometry *)planeNode.geometry updateFromPlaneGeometry:planeAnchor.geometry]; - } - } -} - -- (void)renderer:(id)renderer - didRemoveNode:(SCNNode *)node - forAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]]) { - SCNNode *planeNode = node.childNodes.firstObject; - [planeNode removeFromParentNode]; - } -} -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Info.plist b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Info.plist index 6214887..a5b6464 100644 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Info.plist +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/Info.plist @@ -3,9 +3,9 @@ CFBundleDisplayName - Persistent Cloud Anchor Example + Persistent Cloud Anchor Example CFBundleDevelopmentRegion - en + $(DEVELOPMENT_LANGUAGE) CFBundleExecutable $(EXECUTABLE_NAME) CFBundleIdentifier @@ -18,37 +18,31 @@ APPL LSRequiresIPhoneOS - NSCameraUsageDescription - This application will use the camera for Augmented Reality. - UILaunchStoryboardName - LaunchScreen - UIMainStoryboardFile - Main - UIStatusBarHidden - + NSCameraUsageDescription + This application will use the camera for Augmented Reality. + UIApplicationSupportsIndirectInputEvents + + UILaunchScreen + UIRequiredDeviceCapabilities - - arm64 - accelerometer - gyroscope - arkit - - UISupportedInterfaceOrientations + + arkit + + UIRequiresFullScreen + + UIStatusBarHidden + + UISupportedInterfaceOrientations~iphone + + UIInterfaceOrientationPortrait + + UISupportedInterfaceOrientations~ipad UIInterfaceOrientationPortrait - UIInterfaceOrientationLandscapeLeft - UIInterfaceOrientationLandscapeRight - UISupportedInterfaceOrientations~ipad - - UIInterfaceOrientationPortrait - UIInterfaceOrientationPortraitUpsideDown - UIInterfaceOrientationLandscapeLeft - UIInterfaceOrientationLandscapeRight - CFBundleVersion - 1 - CFBundleShortVersionString - 1.0 + 1 + CFBundleShortVersionString + 1.0 diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.h deleted file mode 100644 index a7bfc60..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.h +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -#import "PrivacyAlertViewController.h" - -NS_ASSUME_NONNULL_BEGIN - -/** ViewController for the first view of this app. */ -@interface LobbyViewController : PrivacyAlertViewController -@property (unsafe_unretained, nonatomic) IBOutlet UIButton *hostButton; - -@property (unsafe_unretained, nonatomic) IBOutlet UIButton *resolveButton; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.m deleted file mode 100644 index 5491c04..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/LobbyViewController.m +++ /dev/null @@ -1,47 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "LobbyViewController.h" -#import "HostViewController.h" - -static float const kCornerRadius = 8; - -@implementation LobbyViewController - -- (void)viewDidLoad { - [super viewDidLoad]; - self.hostButton.layer.cornerRadius = kCornerRadius; - self.resolveButton.layer.cornerRadius = kCornerRadius; -} - -- (IBAction)hostButtonPressed:(id)sender { - __weak LobbyViewController *weakSelf = self; - [self sendPrivacyAlert:^(BOOL shouldContinue) { - if (shouldContinue) { - UIViewController *hostViewController = - [weakSelf.storyboard instantiateViewControllerWithIdentifier:@"HostViewController"]; - [weakSelf.navigationController pushViewController:hostViewController animated:YES]; - } - }]; -} - -- (IBAction)resolveButtonPressed:(id)sender { - UIViewController *resolveLobbyViewController = - [self.storyboard instantiateViewControllerWithIdentifier:@"ResolveLobbyViewController"]; - [self.navigationController pushViewController:resolveLobbyViewController animated:YES]; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PersistentCloudAnchorExampleApp.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PersistentCloudAnchorExampleApp.swift new file mode 100644 index 0000000..4bdd513 --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PersistentCloudAnchorExampleApp.swift @@ -0,0 +1,26 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +@main +struct PersistentCloudAnchorExampleApp: App { + var body: some Scene { + WindowGroup { + ContentView() + } + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.h deleted file mode 100644 index 47ff7e7..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.h +++ /dev/null @@ -1,28 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -NS_ASSUME_NONNULL_BEGIN - -@interface PrivacyAlertViewController : UIViewController - -/** Sends a privacy alert to the screen. */ -- (void)sendPrivacyAlert:(void (^)(BOOL shouldContinue))completion; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.m deleted file mode 100644 index a2792b3..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/PrivacyAlertViewController.m +++ /dev/null @@ -1,87 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "PrivacyAlertViewController.h" - -static NSString *const kPrivacyNoticeKey = @"PrivacyNoticeAccepted"; -static NSString *const kPrivacyAlertTitle = @"Experience it together"; -static NSString *const kPrivacyAlertMessage = @"To power this session, Google will process visual " - "data from your camera."; -static NSString *const kPrivacyAlertContinueButtonText = @"Start now"; -static NSString *const kPrivacyAlertLearnMoreButtonText = @"Learn more"; -static NSString *const kPrivacyAlertBackButtonText = @"Not now"; -static NSString *const kPrivacyAlertLinkURL = - @"https://developers.google.com/ar/data-privacy"; - -@implementation PrivacyAlertViewController - -- (void)sendPrivacyAlert:(void (^)(BOOL shouldContinue))completion { - __weak PrivacyAlertViewController *weakSelf = self; - void (^innerCompletion)(BOOL shouldContinue) = ^(BOOL shouldContinue) { - if (shouldContinue) { - [weakSelf setPrivacyNoticeAccepted:YES]; - } - completion(shouldContinue); - }; - - if ([self privacyNoticeAccepted]) { - innerCompletion(YES); - return; - } - - UIAlertController *alertController = - [UIAlertController alertControllerWithTitle:kPrivacyAlertTitle - message:kPrivacyAlertMessage - preferredStyle:UIAlertControllerStyleAlert]; - UIAlertAction *okAction = [UIAlertAction actionWithTitle:kPrivacyAlertContinueButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - innerCompletion(YES); - }]; - UIAlertAction *learnMoreAction = - [UIAlertAction actionWithTitle:kPrivacyAlertLearnMoreButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - [[UIApplication sharedApplication] - openURL:[NSURL URLWithString:kPrivacyAlertLinkURL] - options:@{} - completionHandler:nil]; - innerCompletion(NO); - }]; - UIAlertAction *cancelAction = [UIAlertAction actionWithTitle:kPrivacyAlertBackButtonText - style:UIAlertActionStyleDefault - handler:^(UIAlertAction *action) { - innerCompletion(NO); - }]; - [alertController addAction:okAction]; - [alertController addAction:learnMoreAction]; - [alertController addAction:cancelAction]; - [self presentViewController:alertController - animated:NO - completion:nil]; -} - -#pragma mark - Helper Methods - -- (BOOL)privacyNoticeAccepted { - return [[NSUserDefaults standardUserDefaults] boolForKey:kPrivacyNoticeKey]; -} - -- (void)setPrivacyNoticeAccepted:(BOOL)accepted { - [[NSUserDefaults standardUserDefaults] setBool:accepted forKey:kPrivacyNoticeKey]; -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/QualityIndicator.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/QualityIndicator.swift new file mode 100644 index 0000000..448e8d0 --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/QualityIndicator.swift @@ -0,0 +1,217 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import RealityKit +import UIKit +import simd + +/// Convenience class mapping quality indicator. +struct QualityIndicator { + private enum Constants { + /// Radius of ring around anchor. + static let radius: Float = 0.2 + /// Pipe radius of ring around anchor. + static let pipeRadius: Float = 0.001 + /// Number of subdivisions around the ring. + static let ringSegmentCount = 32 + /// Number of subdivisions around the ring pipe. + static let pipeSegmentCount = 32 + /// Material for ring. + static let ringMaterial = UnlitMaterial(color: .white) + /// Radius of quality indicator capsules. + static let capsuleRadius: Float = 0.006 + /// Height of quality indicator capsules. + static let capsuleHeight: Float = 0.03 + /// Number of quality indicators for anchor on horizontal plane. + static let horizontalBarCount = 25 + /// Number of quality indicators for anchor on vertical plane. + static let verticalBarCount = 21 + /// Angular spacing around anchor of quality indicators (in radians). + static let barSpacing: Float = (Float.pi / 180) * 7.5 + /// Angular offset of first quality indicator in vertical plane case (in radians). + static let verticalAngleOffset = Float.pi / 12 + + /// Gets the color to be used for a given mapping quality. + static func color(for quality: GARFeatureMapQuality) -> UIColor { + switch quality { + case .good: + return .green + case .sufficient: + return .yellow + default: + return .red + } + } + } + + private class Bar { + private var quality: GARFeatureMapQuality = .insufficient + private let model: ModelEntity + + init(parent: Entity, angle: Float, isOnHorizontalPlane: Bool) { + let capsuleWidth = Constants.capsuleRadius * 2 + // Capsule shape = box with rounded corners. + let resource = MeshResource.generateBox( + size: simd_make_float3(capsuleWidth, Constants.capsuleHeight, capsuleWidth), + cornerRadius: Constants.capsuleRadius) + model = ModelEntity(mesh: resource, materials: [UnlitMaterial(color: .white)]) + if isOnHorizontalPlane { + // Standing up on top of z-x plane. + model.position = simd_make_float3( + Constants.radius * cos(angle), Constants.capsuleHeight / 2, Constants.radius * sin(angle)) + } else { + // Standing up on top of x-y plane, pointing toward negative z. + model.position = simd_make_float3( + Constants.radius * cos(angle), Constants.radius * sin(angle), -Constants.capsuleHeight / 2 + ) + model.orientation = simd_quatf(angle: Float.pi / 2, axis: simd_make_float3(1, 0, 0)) + } + parent.addChild(model) + } + + func updateQuality(_ quality: GARFeatureMapQuality) { + if quality.rawValue > self.quality.rawValue { + self.quality = quality + } + model.model?.materials = [UnlitMaterial(color: Constants.color(for: self.quality))] + } + + func qualityValue() -> Float { + switch quality { + case .good: + return 1 + case .sufficient: + return 0.5 + default: + return 0 + } + } + } + + private let isOnHorizontalPlane: Bool + private var bars: [Bar] = [] + + /// Initializes a new quality indicator. + /// + /// - Parameters: + /// - parent: The anchor entity to attach child nodes to. + /// - isOnHorizontalPlane: `true` if the anchor is attached to a horizontal plane, `false` if + /// vertical. + init(parent: Entity, isOnHorizontalPlane: Bool) { + self.isOnHorizontalPlane = isOnHorizontalPlane + + if isOnHorizontalPlane { + for i in 0...(Constants.horizontalBarCount - 1) { + bars.append( + Bar(parent: parent, angle: Constants.barSpacing * Float(i), isOnHorizontalPlane: true)) + } + } else { + for i in 0...(Constants.verticalBarCount - 1) { + bars.append( + Bar( + parent: parent, angle: Constants.verticalAngleOffset + Constants.barSpacing * Float(i), + isOnHorizontalPlane: false)) + } + } + + guard let mesh = QualityIndicator.generateHalfTorus() else { return } + let ring = ModelEntity(mesh: mesh, materials: [Constants.ringMaterial]) + if !isOnHorizontalPlane { + // Rotate ring into x-y plane. + ring.orientation = simd_quatf(angle: -Float.pi / 2, axis: simd_make_float3(1, 0, 0)) + } + parent.addChild(ring) + } + + /// Update the quality indicator with a new quality value. + /// + /// - Parameters: + /// - quality: The new quality value. + /// - anchorFromCamera: The transform of the camera relative to the anchor. + /// - Returns: A tuple containing the average mapping quality value (computed as a float) and the + /// cylindrical distance to the anchor. + func update(quality: GARFeatureMapQuality, anchorFromCamera: simd_float4x4) -> ( + averageQuality: Float, distance: Float + ) { + let x = anchorFromCamera.columns.3[0] + let y = anchorFromCamera.columns.3[1] + let z = anchorFromCamera.columns.3[2] + // Cylindrical distance in plane of quality indicator ring. + let distance = isOnHorizontalPlane ? sqrtf(z * z + x * x) : sqrtf(y * y + x * x) + let angle = isOnHorizontalPlane ? atan2f(z, x) : (atan2f(y, x) - Constants.verticalAngleOffset) + let barIndex = Int(roundf(angle / Constants.barSpacing)) + if barIndex >= 0 && barIndex < bars.count { + bars[barIndex].updateQuality(quality) + } + var sum: Float = 0 + for bar in bars { + sum += bar.qualityValue() + } + let averageQuality = sum / Float(bars.count) + return (averageQuality, distance) + } + + private static func generateHalfTorus() -> MeshResource? { + var descriptor = MeshDescriptor() + + // Vertices equally spaced around the ring and around the cross sections. + var vertices: [simd_float3] = [] + for i in 0...Constants.ringSegmentCount { + // Angle from x-axis, clockwise in z-x plane. + let theta = Float.pi * (Float(i) / Float(Constants.ringSegmentCount)) + for j in 0...(Constants.pipeSegmentCount - 1) { + // Angle around cross section. + let phi = 2 * Float.pi * Float(j) / Float(Constants.pipeSegmentCount) + // Radius for cylindrical coordinates. + let r = Constants.radius + Constants.pipeRadius * cosf(phi) + vertices.append( + simd_make_float3(r * cosf(theta), Constants.pipeRadius * sinf(phi), r * sinf(theta))) + } + } + descriptor.positions = MeshBuffers.Positions(vertices) + + var indices: [UInt32] = [] + for i in 0...(Constants.ringSegmentCount - 1) { + for j in 0...(Constants.pipeSegmentCount - 1) { + let iNext = i + 1 + let jNext = (j + 1) % Constants.pipeSegmentCount + // Two triangles per rectangular region facing out. + // *-----* jNext + // | /| + // | 2 / | + // | / | + // | / 1 | + // |/ | + // *-----* j + // i+1 i + + // Triangle #1. + indices.append(UInt32(i * Constants.pipeSegmentCount + j)) + indices.append(UInt32(i * Constants.pipeSegmentCount + jNext)) + indices.append(UInt32(iNext * Constants.pipeSegmentCount + j)) + + // Triangle #2. + indices.append(UInt32(i * Constants.pipeSegmentCount + jNext)) + indices.append(UInt32(iNext * Constants.pipeSegmentCount + jNext)) + indices.append(UInt32(iNext * Constants.pipeSegmentCount + j)) + } + } + descriptor.primitives = .triangles(indices) + + return try? MeshResource.generate(from: [descriptor]) + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.h deleted file mode 100644 index 7519086..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.h +++ /dev/null @@ -1,37 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import - -#import "PrivacyAlertViewController.h" - -NS_ASSUME_NONNULL_BEGIN - -/** ViewController for the resolve cloud anchor lobby view. */ -@interface ResolveLobbyViewController : PrivacyAlertViewController - -@property(nonatomic, strong) IBOutlet UIButton *nicknameButton; -@property(nonatomic, strong) IBOutlet UITableView *nicknameTableView; -@property(nonatomic, strong) IBOutlet UIButton *resolveButton; -@property(nonatomic, strong) IBOutlet UITextField *anchorIdsField; - -- (IBAction)nicknameButtonPressed:(id)sender; - -- (IBAction)resolveButtonPressed:(id)sender; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.m deleted file mode 100644 index ca5594c..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveLobbyViewController.m +++ /dev/null @@ -1,214 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "ResolveLobbyViewController.h" - -#import "ResolveViewController.h" - -static NSInteger const KDayToSeconds = 24 * 60 * 60; -static NSInteger const KHourToSeconds = 60 * 60; -static NSInteger const KHourToMinutes = 60; -static NSInteger const KMinutesToSeconds = 60; -static float const kNicknameCornerRadius = 4; -static float const kResolveCornerRadius = 8; -static NSString *const kTableIdentifier = @"tableIdentifier"; -static NSString *const kNicknameTimeStampDictionary = @"NicknameTimeStampDictionary"; -static NSString *const kNicknameAnchorIdDictionary = @"NicknameAnchorIdDictionary"; - -@interface ResolveLobbyViewController () - -@property(nonatomic) NSMutableDictionary *nicknameToTimestamps; -@property(nonatomic) NSMutableDictionary *nicknameToAnchorIds; -@property(nonatomic) NSMutableArray *sortedNicknames; -@property(nonatomic) NSMutableSet *tableViewAnchorIds; -@property(nonatomic) NSMutableSet *selectedNicknames; -@property(nonatomic) NSMutableArray *inputAnchorIds; - -@end - -#pragma mark - Overriding UIViewController -@implementation ResolveLobbyViewController - -- (void)initProperty { - _tableViewAnchorIds = [NSMutableSet set]; - _selectedNicknames = [NSMutableSet set]; - _inputAnchorIds = [NSMutableArray array]; -} - -- (void)viewDidLoad { - [super viewDidLoad]; - [self initProperty]; - [self.nicknameButton.layer setBorderWidth:1.0f]; - [self.nicknameButton.layer setBorderColor:[[UIColor grayColor] CGColor]]; - self.nicknameButton.layer.cornerRadius = kNicknameCornerRadius; - self.nicknameTableView.delegate = self; - self.nicknameTableView.dataSource = self; - self.nicknameTableView.hidden = YES; - self.resolveButton.layer.cornerRadius = kResolveCornerRadius; - [self startObservingNicknames]; - self.anchorIdsField.delegate = self; - UITapGestureRecognizer *tapGestureRecognizer = - [[UITapGestureRecognizer alloc] initWithTarget:self action:@selector(handleTap:)]; - tapGestureRecognizer.delegate = self; - [self.view addGestureRecognizer:tapGestureRecognizer]; -} - -- (IBAction)nicknameButtonPressed:(id)sender { - self.nicknameTableView.hidden = ![self.nicknameTableView isHidden]; - [self.nicknameTableView setEditing:YES animated:YES]; -} - -- (IBAction)resolveButtonPressed:(id)sender { - [self.view endEditing:YES]; - // Accept anchor ids from nicknameTableView or anchorIdsField. - if (self.anchorIdsField.text && self.anchorIdsField.text.length > 0) { - [self.inputAnchorIds removeAllObjects]; - self.inputAnchorIds = [[self.anchorIdsField.text componentsSeparatedByString:@","] mutableCopy]; - } - - __weak ResolveLobbyViewController *weakSelf = self; - [self sendPrivacyAlert:^(BOOL shouldContinue) { - if (shouldContinue) { - ResolveViewController *resolveViewController = - [weakSelf.storyboard instantiateViewControllerWithIdentifier:@"ResolveViewController"]; - if ([self.inputAnchorIds count] > 0) { - resolveViewController.anchorIds = self.inputAnchorIds; - } else { - resolveViewController.anchorIds = [self.tableViewAnchorIds allObjects]; - } - [weakSelf.navigationController pushViewController:resolveViewController animated:YES]; - } - }]; -} - -#pragma mark - Helper Methods - -- (void)startObservingNicknames { - NSMutableDictionary *table1 = [[[NSUserDefaults standardUserDefaults] - dictionaryForKey:kNicknameTimeStampDictionary] mutableCopy]; - NSMutableDictionary *table2 = [[[NSUserDefaults standardUserDefaults] - dictionaryForKey:kNicknameAnchorIdDictionary] mutableCopy]; - if (!table1 || !table2) { - return; - } - self.nicknameToTimestamps = table1; - self.nicknameToAnchorIds = table2; - - for (NSString *key in [self.nicknameToTimestamps allKeys]) { - if ([[NSDate date] timeIntervalSinceDate:self.nicknameToTimestamps[key]] > KDayToSeconds) { - [self.nicknameToTimestamps removeObjectForKey:key]; - [self.nicknameToAnchorIds removeObjectForKey:key]; - } - } - - self.sortedNicknames = - [[self.nicknameToTimestamps keysSortedByValueUsingComparator:^NSComparisonResult( - NSDate *_Nonnull obj1, NSDate *_Nonnull obj2) { - return - [[NSDate date] timeIntervalSinceDate:obj1] - [[NSDate date] timeIntervalSinceDate:obj2]; - }] mutableCopy]; - - [[NSUserDefaults standardUserDefaults] setObject:self.nicknameToTimestamps - forKey:kNicknameTimeStampDictionary]; - [[NSUserDefaults standardUserDefaults] setObject:self.nicknameToAnchorIds - forKey:kNicknameAnchorIdDictionary]; - [[NSUserDefaults standardUserDefaults] synchronize]; - - [self.nicknameTableView reloadData]; -} - -- (void)updateNicknameButtonText { - NSString *showSelectedNames = - [[self.selectedNicknames allObjects] componentsJoinedByString:@", "]; - [self.nicknameButton setTitle:showSelectedNames forState:UIControlStateNormal]; -} - -- (void)handleTap:(UITapGestureRecognizer *)recognizer { - [self.view endEditing:YES]; -} - -#pragma mark - UITableView data source - -- (NSInteger)tableView:(UITableView *)tableView numberOfRowsInSection:(NSInteger)section { - return self.nicknameToTimestamps.count; -} - -- (UITableViewCell *)tableView:(UITableView *)tableView - cellForRowAtIndexPath:(NSIndexPath *)indexPath { - UITableViewCell *cell = [[UITableViewCell alloc] initWithStyle:UITableViewCellStyleValue1 - reuseIdentifier:kTableIdentifier]; - - NSString *nickname = [self.sortedNicknames objectAtIndex:indexPath.row]; - - NSString *time = @""; - double interval = [[NSDate date] timeIntervalSinceDate:self.nicknameToTimestamps[nickname]]; - int hours = floor(interval / KHourToSeconds); - int minutes = round(interval / KMinutesToSeconds - hours * KHourToMinutes); - if (hours > 0) { - time = [time stringByAppendingString:[NSString stringWithFormat:@"%dh", hours]]; - } else { - time = [time stringByAppendingString:[NSString stringWithFormat:@"%dm", minutes]]; - } - time = [time stringByAppendingString:@" ago"]; - - cell.textLabel.text = nickname; - cell.detailTextLabel.text = time; - cell.tintColor = [UIColor blueColor]; - return cell; -} - -#pragma mark - UITableView Delegate - -- (void)tableView:(UITableView *)tableView didSelectRowAtIndexPath:(NSIndexPath *)indexPath { - UITableViewCell *cell = [self.nicknameTableView cellForRowAtIndexPath:indexPath]; - [self.tableViewAnchorIds addObject:self.nicknameToAnchorIds[cell.textLabel.text]]; - [self.selectedNicknames addObject:cell.textLabel.text]; - [self updateNicknameButtonText]; -} - -- (void)tableView:(UITableView *)tableView didDeselectRowAtIndexPath:(NSIndexPath *)indexPath { - UITableViewCell *cell = [self.nicknameTableView cellForRowAtIndexPath:indexPath]; - [self.tableViewAnchorIds removeObject:self.nicknameToAnchorIds[cell.textLabel.text]]; - [self.selectedNicknames removeObject:cell.textLabel.text]; - [self updateNicknameButtonText]; -} - -- (UITableViewCellEditingStyle)tableView:(UITableView *)tableView - editingStyleForRowAtIndexPath:(NSIndexPath *)indexPath { - // A check box visualization. - return 3; -} - -#pragma mark - UITextFieldDelegate - -- (BOOL)textFieldShouldReturn:(UITextField *)textField { - [textField resignFirstResponder]; - return YES; -} - -#pragma mark - UIGestureRecognizerDelegate - -- (BOOL)gestureRecognizer:(UIGestureRecognizer *)gestureRecognizer - shouldReceiveTouch:(UITouch *)touch { - // Only respond to touch events outside of the table view. - return !CGRectContainsPoint(self.nicknameTableView.bounds, - [touch locationInView:self.nicknameTableView]); -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolvePickerView.swift b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolvePickerView.swift new file mode 100644 index 0000000..6b89c3a --- /dev/null +++ b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolvePickerView.swift @@ -0,0 +1,117 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +/// View for choosing which anchors to resolve. +struct ResolvePickerView: View { + @EnvironmentObject var manager: CloudAnchorManager + + @State private var expanded = false + @State private var anchorIdSelection = Set() + @State private var anchorIdsField = "" + @State private var anchorInfos = [AnchorInfo]() + + private var anchorIds: [String] { + if !anchorIdsField.isEmpty { + return anchorIdsField.components(separatedBy: ",") + } + return Array(anchorIdSelection) + } + + private func dropDownLabel() -> String { + if anchorIdSelection.isEmpty { + return "Select" + } + return + anchorInfos + .filter({ anchorIdSelection.contains($0.id) }) + .map({ $0.name }) + .joined(separator: ",") + } + + private func updateAnchorInfos() { + anchorInfos = manager.fetchAndPruneAnchors() + // Remove any anchor IDs from selection that are no longer in the list. + anchorIdSelection = Set( + anchorInfos.map({ $0.id }).filter({ anchorIdSelection.contains($0) })) + } + + var body: some View { + VStack { + Text("Resolve anchor(s)") + .frame(height: 35) + .font(.system(size: 27, weight: .bold)) + Text("Choose up to 40 anchors to resolve at once") + .frame(width: 195, height: 41) + .font(.system(size: 17)) + .multilineTextAlignment(.center) + Text("Select from anchors previously hosted from this device") + .frame(width: 295, height: 42) + .font(.system(size: 14)) + DisclosureGroup( + isExpanded: $expanded, + content: {}, + label: { + Text(dropDownLabel()) + .lineLimit(1) + .padding(.leading) + } + ) + .frame(width: 295, height: 30) + if expanded { + List(anchorInfos, selection: $anchorIdSelection) { anchorInfo in + HStack { + Text(anchorInfo.name) + Spacer() + Text("\(anchorInfo.age) ago") + .foregroundStyle(.secondary) + } + } + .frame(width: 295, height: 150) + .environment(\.editMode, .constant(.active)) + .listStyle(.plain) + } else { + VStack { + Text("---------Or---------") + .font(.system(size: 19)) + .frame(height: 23) + Text("Enter anchor ID(s), separated by commas") + .font(.system(size: 14)) + .frame(width: 295, height: 30) + TextField("", text: $anchorIdsField) + .textFieldStyle(.roundedBorder) + .frame(width: 295, height: 30) + } + .frame(width: 295, height: 150) + } + Button { + manager.resolveButtonPressed(anchorIds: anchorIds) + } label: { + Text("Resolve") + .font(.system(size: 20)) + .frame(width: 175) + .foregroundStyle(.white) + } + .disabled(anchorIdsField.isEmpty && anchorIdSelection.isEmpty) + .buttonStyle(.borderedProminent) + } + .onAppear { + // Refresh anchor info every time the view appears on screen. + updateAnchorInfos() + } + } +} diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.h b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.h deleted file mode 100644 index ea821c8..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.h +++ /dev/null @@ -1,52 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import -#import -#import - -#import "CloudAnchorManager.h" - -#import - -#import - -/** Possible values of ResolveViewController state. */ -typedef NS_ENUM(NSInteger, ResolveState) { - ResolveStateDefault, - ResolveStateResolving, - ResolveStateFinished -}; - -NS_ASSUME_NONNULL_BEGIN - -/** ViewController for the resolve cloud anchor view. */ -@interface ResolveViewController : UIViewController - -@property(nonatomic, strong) IBOutlet ARSCNView *sceneView; -@property(nonatomic, strong) IBOutlet UILabel *messageLabel; -@property(nonatomic, strong) IBOutlet UILabel *debugLabel; -@property(nonatomic, assign) ResolveState state; -@property(nonatomic, strong) NSString *message; -@property(nonatomic, strong) NSString *debugMessage; -// Cloud Anchor Manager manages interaction between GARSession and ARSession. -@property(nonatomic, strong) CloudAnchorManager *cloudAnchorManager; -// Values passed from ResolveLobbyViewController. -@property(nonatomic, strong) NSArray *anchorIds; - -@end - -NS_ASSUME_NONNULL_END diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.m deleted file mode 100644 index 3bfce4d..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/ResolveViewController.m +++ /dev/null @@ -1,210 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "ResolveViewController.h" - -static NSString *const kDebugMessagePrefix = @"Debug panel\n"; - -@interface ResolveViewController () - -// Nodes representing resolved GARAnchors. Updated when anchor changes. -@property(nonatomic, strong) NSMutableDictionary *idToResolvedAnchorNodes; -@property(nonatomic, strong) - NSMutableDictionary *idToFutures; - -@end - -#pragma mark - Overriding UIViewController - -@implementation ResolveViewController - -- (void)initProperty { - _idToResolvedAnchorNodes = [NSMutableDictionary dictionary]; - _idToFutures = [NSMutableDictionary dictionary]; -} - -- (void)viewDidLoad { - [super viewDidLoad]; - - [self initProperty]; - [self.messageLabel setNumberOfLines:3]; - [self.debugLabel setNumberOfLines:5]; - self.cloudAnchorManager = [[CloudAnchorManager alloc] initWithARSession:self.sceneView.session]; - self.cloudAnchorManager.delegate = self; - self.sceneView.delegate = self; - [self runSession]; - [self enterState:ResolveStateDefault]; - [self resolveAnchors:self.anchorIds]; -} - -#pragma mark - Anchor Resolving - -- (void)handleResolveAnchor:(GARAnchor *)anchor - cloudState:(GARCloudAnchorState)cloudState - anchorId:(NSString *)anchorId { - if (self.state != ResolveStateResolving || ![self.idToFutures objectForKey:anchorId]) { - return; - } - - if (cloudState == GARCloudAnchorStateSuccess) { - SCNNode *node = [self cloudAnchorNode]; - node.simdTransform = anchor.transform; - [self.sceneView.scene.rootNode addChildNode:node]; - self.idToResolvedAnchorNodes[anchor.identifier] = node; - self.debugMessage = [NSString - stringWithFormat:@"Resolved %@ continuing to refine pose.", - [[self.idToResolvedAnchorNodes allKeys] componentsJoinedByString:@", "]]; - [self updateMessageLabel]; - } - [self updateResolveStatus]; -} - -// Encourage the user to look at a previously mapped area. -- (void)resolveAnchors:(NSArray *)anchorIds { - [self enterState:ResolveStateResolving]; - __weak ResolveViewController *weakSelf = self; - for (NSString *anchorId in anchorIds) { - self.idToFutures[anchorId] = [self.cloudAnchorManager - resolveAnchorWithAnchorId:anchorId - completion:^(GARAnchor *anchor, GARCloudAnchorState cloudState) { - [weakSelf handleResolveAnchor:anchor - cloudState:cloudState - anchorId:anchorId]; - } - error:nil]; - } -} - -#pragma mark - Helper Methods - -- (void)runSession { - ARWorldTrackingConfiguration *configuration = [[ARWorldTrackingConfiguration alloc] init]; - [configuration setWorldAlignment:ARWorldAlignmentGravity]; - [configuration setPlaneDetection:ARPlaneDetectionHorizontal]; - - [self.sceneView.session runWithConfiguration:configuration]; -} - -- (void)enterState:(ResolveState)state { - switch (state) { - case ResolveStateDefault: - self.message = @"Look at the location you expect to see the AR experience appear."; - int num = [self.anchorIds count]; - self.debugMessage = [NSString stringWithFormat:@"Attempting to resolve %d/40 anchors", num]; - NSLog(@"Attempting to resolve %d out of 40 anchors: %@", num, - [self.anchorIds componentsJoinedByString:@", "]); - break; - case ResolveStateResolving: { - self.message = @"Resolving..."; - self.debugMessage = @"To cancel the resolve, call removeAnchor"; - // TODO(b/251453188): Fix unused variable - __weak ResolveViewController *__unused weakSelf = self; - - } break; - case ResolveStateFinished: - self.message = [NSString stringWithFormat:@"Resolve Finished: \n"]; - - for (NSString *anchorId in [self.idToFutures allKeys]) { - self.message = [self.message - stringByAppendingString: - [NSString - stringWithFormat:@"%@ ", [self cloudStateString:self.idToFutures[anchorId] - .resultCloudAnchorState]]]; - } - self.debugMessage = [NSString - stringWithFormat: - @"Resolved %@ continuing to refine pose.\nTo stop refining, call removeAnchor.", - [[self.idToResolvedAnchorNodes allKeys] componentsJoinedByString:@", "]]; - break; - } - self.state = state; - [self updateMessageLabel]; -} - -- (void)updateMessageLabel { - [self.messageLabel setText:self.message]; - [self.debugLabel setText:[kDebugMessagePrefix stringByAppendingString:self.debugMessage]]; -} - -- (NSString *)cloudStateString:(GARCloudAnchorState)cloudState { - switch (cloudState) { - case GARCloudAnchorStateNone: - return @"None"; - case GARCloudAnchorStateSuccess: - return @"Success"; - case GARCloudAnchorStateErrorInternal: - return @"ErrorInternal"; - case GARCloudAnchorStateTaskInProgress: - return @"TaskInProgress"; - case GARCloudAnchorStateErrorNotAuthorized: - return @"ErrorNotAuthorized"; - case GARCloudAnchorStateErrorResourceExhausted: - return @"ErrorResourceExhausted"; - case GARCloudAnchorStateErrorCloudIdNotFound: - return @"ErrorCloudIdNotFound"; - default: - return @"Unknown"; - } -} - -// Helper method to generate an SCNNode with Android geometry. -- (SCNNode *)cloudAnchorNode { - SCNScene *scene = [SCNScene sceneNamed:@"example.scnassets/cloud_anchor.scn"]; - return [[scene rootNode] childNodeWithName:@"cloud_anchor" recursively:NO]; -} - -- (void)updateResolveStatus { - BOOL allFinished = YES; - for (NSString *anchorId in [self.idToFutures allKeys]) { - if (self.idToFutures[anchorId].state == GARFutureStatePending) { - allFinished = NO; - break; - } - } - if (allFinished) { - [self enterState:ResolveStateFinished]; - } -} - -#pragma mark - CloudAnchorManagerDelegate - -- (void)cloudAnchorManager:(CloudAnchorManager *)manager - didUpdateFrame:(GARFrame *)garFrame - tracking:(BOOL)tracking - cameraTransform:(simd_float4x4)cameraTransform - anchors:(NSArray *)anchors - featureMapQuality:(int)featureMapQuality { - if (self.state == ResolveStateResolving) { - for (GARAnchor *garAnchor in garFrame.updatedAnchors) { - if ([self.idToResolvedAnchorNodes objectForKey:garAnchor.identifier]) { - self.idToResolvedAnchorNodes[garAnchor.identifier].simdTransform = garAnchor.transform; - self.idToResolvedAnchorNodes[garAnchor.identifier].hidden = !garAnchor.hasValidTransform; - } - } - } -} - -#pragma mark - ARSCNViewDelegate - -- (SCNNode *)renderer:(id)renderer nodeForAnchor:(ARAnchor *)anchor { - if ([anchor isKindOfClass:[ARPlaneAnchor class]] == NO) { - return [self cloudAnchorNode]; - } else { - return nil; - } -} - -@end diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/cloud_anchor.scn b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/cloud_anchor.usdz similarity index 66% rename from Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/cloud_anchor.scn rename to Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/cloud_anchor.usdz index 05b7758..0d4b39c 100644 Binary files a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/cloud_anchor.scn and b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/cloud_anchor.usdz differ diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/cloud_anchor.dae b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/cloud_anchor.dae deleted file mode 100644 index b17f0f5..0000000 --- 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566 8030 1037 1342 8031 1034 570 8032 1045 1346 8033 1042 1347 8034 1044 567 8035 1039 571 8036 1047 567 8037 1039 1347 8038 1044 1343 8039 1036 1348 8040 1054 568 8041 1041 572 8042 1049 568 8043 1041 1348 8044 1054 1344 8045 1046 573 8046 1051 1345 8047 1040 569 8048 1043 1345 8049 1040 573 8050 1051 1349 8051 1048 570 8052 1045 1350 8053 1050 1346 8054 1042 1350 8055 1050 570 8056 1045 574 8057 1053 571 8058 1047 575 8059 1055 1347 8060 1044 1351 8061 1052 1347 8062 1044 575 8063 1055 1348 8064 1054 576 8065 1057 1352 8066 1062 576 8067 1057 1348 8068 1054 572 8069 1049 573 8070 1051 1353 8071 1056 1349 8072 1048 1353 8073 1056 573 8074 1051 577 8075 1059 574 8076 1053 1354 8077 1058 1350 8078 1050 1354 8079 1058 574 8080 1053 578 8081 1061 575 8082 1055 579 8083 1063 1351 8084 1052 1355 8085 1060 1351 8086 1052 579 8087 1063 1352 8088 1062 580 8089 1065 1356 8090 1070 580 8091 1065 1352 8092 1062 576 8093 1057 577 8094 1059 1357 8095 1064 1353 8096 1056 1357 8097 1064 577 8098 1059 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21299 1955 3517 21300 1702 3516 21301 1700 3259 21302 1830 3516 21303 1700 3258 21304 1828 3259 21305 1830 3581 21306 1959 3322 21307 1701 3323 21308 1703 3322 21309 1701 3581 21310 1959 3580 21311 1957 3518 21312 1704 3259 21313 1830 3260 21314 1832 3259 21315 1830 3518 21316 1704 3517 21317 1702 3582 21318 1961 3581 21319 1959 3324 21320 1705 3324 21321 1705 3581 21322 1959 3323 21323 1703 3261 21324 1834 3519 21325 1706 3518 21326 1704 3261 21327 1834 3518 21328 1704 3260 21329 1832 3583 21330 1963 3324 21331 1705 3325 21332 1707 3324 21333 1705 3583 21334 1963 3582 21335 1961 3520 21336 1708 3261 21337 1834 3262 21338 1836 3261 21339 1834 3520 21340 1708 3519 21341 1706 3584 21342 1965 3325 21343 1707 3326 21344 1709 3325 21345 1707 3584 21346 1965 3583 21347 1963 3520 21348 1708 3263 21349 1838 3521 21350 1710 3263 21351 1838 3520 21352 1708 3262 21353 1836 3584 21354 1965 3327 21355 1711 3585 21356 1967 3327 21357 1711 3584 21358 1965 3326 21359 1709 3521 21360 1710 3264 21361 1840 3522 21362 1712 3264 21363 1840 3521 21364 1710 3263 21365 1838 3586 21366 1969 3327 21367 1711 3328 21368 1713 3327 21369 1711 3586 21370 1969 3585 21371 1967 3522 21372 1712 3265 21373 1842 3523 21374 1714 3265 21375 1842 3522 21376 1712 3264 21377 1840 3587 21378 1971 3328 21379 1713 3329 21380 1715 3328 21381 1713 3587 21382 1971 3586 21383 1969 3524 21384 1716 3265 21385 1842 3266 21386 1844 3265 21387 1842 3524 21388 1716 3523 21389 1714 3588 21390 1973 3329 21391 1715 3330 21392 1717 3329 21393 1715 3588 21394 1973 3587 21395 1971 3266 21396 1844 3525 21397 1718 3524 21398 1716 3525 21399 1718 3266 21400 1844 3267 21401 1846 3588 21402 1973 3331 21403 1719 3589 21404 1975 3331 21405 1719 3588 21406 1973 3330 21407 1717 3267 21408 1846 3526 21409 1720 3525 21410 1718 3526 21411 1720 3267 21412 1846 3268 21413 1848 3589 21414 1975 3332 21415 1721 3590 21416 1977 3332 21417 1721 3589 21418 1975 3331 21419 1719 3268 21420 1848 3527 21421 1722 3526 21422 1720 3527 21423 1722 3268 21424 1848 3269 21425 1850 3333 21426 1723 3590 21427 1977 3332 21428 1721 3590 21429 1977 3333 21430 1723 3591 21431 1979 3269 21432 1850 3528 21433 1724 3527 21434 1722 3528 21435 1724 3269 21436 1850 3270 21437 1852 3334 21438 1725 3591 21439 1979 3333 21440 1723 3591 21441 1979 3334 21442 1725 3592 21443 1981 3529 21444 1854 3528 21445 1724 3270 21446 1852 3528 21447 1724 3529 21448 1854 3271 21449 1726 3334 21450 1725 3593 21451 1983 3592 21452 1981 3593 21453 1983 3334 21454 1725 3335 21455 1727 3529 21456 1854 3208 21457 1600 3271 21458 1726 3208 21459 1600 3529 21460 1854 3466 21461 1729 3593 21462 1983 3335 21463 1727 3272 21464 1603 3593 21465 1983 3272 21466 1603 3530 21467 1857</p> - </triangles> - </mesh> - </geometry> - </library_geometries> - <library_visual_scenes> - <visual_scene id="ca" name="ca"> - <node name="cloud_anchor" id="cloud_anchor" sid="cloud_anchor"> - <matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> - <instance_geometry url="#cloud_anchor-lib"> - <bind_material> - <technique_common> - <instance_material symbol="cloud_anchor_mat" target="#cloud_anchor_mat"/> - </technique_common> - </bind_material> - </instance_geometry> - <extra> - <technique profile="FCOLLADA"> - <visibility>1.000000</visibility> - </technique> - </extra> - </node> - <extra> - <technique profile="MAX3D"> - <frame_rate>24.000000</frame_rate> - </technique> - <technique profile="FCOLLADA"> - <start_time>0.000000</start_time> - <end_time>9.866667</end_time> - </technique> - </extra> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#ca"/> - </scene> -</COLLADA> diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/sampledDiffuseColor.png b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/sampledDiffuseColor.png deleted file mode 100644 index 15acd13..0000000 Binary files a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/example.scnassets/sampledDiffuseColor.png and /dev/null differ diff --git a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/main.m b/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/main.m deleted file mode 100644 index 492bf11..0000000 --- a/Examples/PersistentCloudAnchorExample/PersistentCloudAnchorExample/main.m +++ /dev/null @@ -1,24 +0,0 @@ -/* - * Copyright 2020 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import <UIKit/UIKit.h> -#import "AppDelegate.h" - -int main(int argc, char *argv[]) { - @autoreleasepool { - return UIApplicationMain(argc, argv, nil, NSStringFromClass([AppDelegate class])); - } -} diff --git a/Examples/PersistentCloudAnchorExample/Podfile b/Examples/PersistentCloudAnchorExample/Podfile index f28a6f0..ca5ce71 100644 --- a/Examples/PersistentCloudAnchorExample/Podfile +++ b/Examples/PersistentCloudAnchorExample/Podfile @@ -1,4 +1,4 @@ target 'PersistentCloudAnchorExample' use_frameworks! -platform :ios, '12.0' -pod 'ARCore/CloudAnchors', '~> 1.44.0' +platform :ios, '17.0' +pod 'ARCore/CloudAnchors', '~> 1.45.0' diff --git a/Examples/PersistentCloudAnchorExample/README b/Examples/PersistentCloudAnchorExample/README index 2b2a663..83445a2 100644 --- a/Examples/PersistentCloudAnchorExample/README +++ b/Examples/PersistentCloudAnchorExample/README @@ -3,7 +3,7 @@ Setup instructions for PersistentCloudAnchorExample sample app To use: More details are in: https://developers.google.com/ar/develop/ios/cloud-anchors/quickstart 1) Enable the ARCore API (https://console.cloud.google.com/apis/library/arcore) for your Google Cloud Platform project. -2) Modify CloudAnchorManager.m to use your API key (search for sessionWithAPIKey:). +2) Modify CloudAnchorManager.swift to use your API key (search for 'apiKey'). 3) Integrate with the ARCore SDK (see below). 4) Change bundle ID, so that you can sign the app with your team. diff --git a/Examples/SemanticsExample/Podfile b/Examples/SemanticsExample/Podfile index 5df5429..dee0ca1 100644 --- a/Examples/SemanticsExample/Podfile +++ b/Examples/SemanticsExample/Podfile @@ -1,4 +1,4 @@ target 'SemanticsExample' use_frameworks! -platform :ios, '12.0' -pod 'ARCore/Semantics', '~> 1.44.0' +platform :ios, '15.0' +pod 'ARCore/Semantics', '~> 1.45.0' diff --git a/Examples/SemanticsExample/README b/Examples/SemanticsExample/README index 7617b22..5f380f4 100644 --- a/Examples/SemanticsExample/README +++ b/Examples/SemanticsExample/README @@ -1,6 +1,7 @@ # Semantics API sample app for iOS This sample app shows how to use the ARCore Scene Semantics API for iOS. +Note: Building with the release config is required for good performance. # Setup diff --git a/Examples/SemanticsExample/SemanticsExample.xcodeproj/project.pbxproj b/Examples/SemanticsExample/SemanticsExample.xcodeproj/project.pbxproj index 1d9c1e5..671a02f 100644 --- a/Examples/SemanticsExample/SemanticsExample.xcodeproj/project.pbxproj +++ b/Examples/SemanticsExample/SemanticsExample.xcodeproj/project.pbxproj @@ -7,29 +7,25 @@ objects = { /* Begin PBXBuildFile section */ - E5622DE02A58D5F80035742A /* AppDelegate.m in Sources */ = {isa = PBXBuildFile; fileRef = E5622DDF2A58D5F80035742A /* AppDelegate.m */; }; - E5622DE62A58D5F80035742A /* ViewController.m in Sources */ = {isa = PBXBuildFile; fileRef = E5622DE52A58D5F80035742A /* ViewController.m */; }; - E5622DE92A58D5F80035742A /* Main.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = E5622DE72A58D5F80035742A /* Main.storyboard */; }; - E5622DEB2A58D5FA0035742A /* Assets.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = E5622DEA2A58D5FA0035742A /* Assets.xcassets */; }; - E5622DEE2A58D5FA0035742A /* LaunchScreen.storyboard in Resources */ = {isa = PBXBuildFile; fileRef = E5622DEC2A58D5FA0035742A /* LaunchScreen.storyboard */; }; - E5622DF12A58D5FA0035742A /* main.m in Sources */ = {isa = PBXBuildFile; fileRef = E5622DF02A58D5FA0035742A /* main.m */; }; + 3E209D192C4717F500C4992C /* ContentView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3E209D182C4717F500C4992C /* ContentView.swift */; }; + 3E209D272C471C6900C4992C /* SemanticsExampleApp.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3E209D262C471C6900C4992C /* SemanticsExampleApp.swift */; }; + 3E209D292C47290800C4992C /* SemanticLabel.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3E209D282C47290800C4992C /* SemanticLabel.swift */; }; + 3E209D2B2C47297A00C4992C /* SemanticFraction.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3E209D2A2C47297A00C4992C /* SemanticFraction.swift */; }; + 3E209D302C481B7E00C4992C /* ARViewContainer.swift in Sources */ = {isa = PBXBuildFile; fileRef = 3E209D2F2C481B7E00C4992C /* ARViewContainer.swift */; }; /* End PBXBuildFile section */ /* Begin PBXFileReference section */ - E5622DDB2A58D5F80035742A /* SemanticsExample.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = SemanticsExample.app; sourceTree = BUILT_PRODUCTS_DIR; }; - E5622DDE2A58D5F80035742A /* AppDelegate.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = AppDelegate.h; sourceTree = "<group>"; }; - E5622DDF2A58D5F80035742A /* AppDelegate.m */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.objc; path = AppDelegate.m; sourceTree = "<group>"; }; - E5622DE42A58D5F80035742A /* ViewController.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = ViewController.h; sourceTree = "<group>"; }; - E5622DE52A58D5F80035742A /* ViewController.m */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.objc; path = ViewController.m; sourceTree = "<group>"; }; - E5622DE82A58D5F80035742A /* Base */ = {isa = PBXFileReference; lastKnownFileType = file.storyboard; name = Base; path = Base.lproj/Main.storyboard; sourceTree = "<group>"; }; - E5622DEA2A58D5FA0035742A /* Assets.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; path = Assets.xcassets; sourceTree = "<group>"; }; - E5622DED2A58D5FA0035742A /* Base */ = {isa = PBXFileReference; lastKnownFileType = file.storyboard; name = Base; path = Base.lproj/LaunchScreen.storyboard; sourceTree = "<group>"; }; - E5622DEF2A58D5FA0035742A /* Info.plist */ = {isa = PBXFileReference; lastKnownFileType = text.plist.xml; path = Info.plist; sourceTree = "<group>"; }; - E5622DF02A58D5FA0035742A /* main.m */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.objc; path = main.m; sourceTree = "<group>"; }; + 3E209D132C4717F500C4992C /* SemanticsExample.app */ = {isa = PBXFileReference; explicitFileType = wrapper.application; includeInIndex = 0; path = SemanticsExample.app; sourceTree = BUILT_PRODUCTS_DIR; }; + 3E209D182C4717F500C4992C /* ContentView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ContentView.swift; sourceTree = "<group>"; }; + 3E209D242C4718AB00C4992C /* Info.plist */ = {isa = PBXFileReference; lastKnownFileType = text.plist.xml; path = Info.plist; sourceTree = "<group>"; }; + 3E209D262C471C6900C4992C /* SemanticsExampleApp.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = SemanticsExampleApp.swift; sourceTree = "<group>"; }; + 3E209D282C47290800C4992C /* SemanticLabel.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = SemanticLabel.swift; sourceTree = "<group>"; }; + 3E209D2A2C47297A00C4992C /* SemanticFraction.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = SemanticFraction.swift; sourceTree = "<group>"; }; + 3E209D2F2C481B7E00C4992C /* ARViewContainer.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = ARViewContainer.swift; sourceTree = "<group>"; }; /* End PBXFileReference section */ /* Begin PBXFrameworksBuildPhase section */ - E5622DD82A58D5F80035742A /* Frameworks */ = { + 3E209D102C4717F500C4992C /* Frameworks */ = { isa = PBXFrameworksBuildPhase; buildActionMask = 2147483647; files = ( @@ -39,34 +35,31 @@ /* End PBXFrameworksBuildPhase section */ /* Begin PBXGroup section */ - E5622DD22A58D5F80035742A = { + 3E209D0A2C4717F500C4992C = { isa = PBXGroup; children = ( - E5622DDD2A58D5F80035742A /* SemanticsExample */, - E5622DDC2A58D5F80035742A /* Products */, + 3E209D152C4717F500C4992C /* SemanticsExample */, + 3E209D142C4717F500C4992C /* Products */, ); sourceTree = "<group>"; }; - E5622DDC2A58D5F80035742A /* Products */ = { + 3E209D142C4717F500C4992C /* Products */ = { isa = PBXGroup; children = ( - E5622DDB2A58D5F80035742A /* SemanticsExample.app */, + 3E209D132C4717F500C4992C /* SemanticsExample.app */, ); name = Products; sourceTree = "<group>"; }; - E5622DDD2A58D5F80035742A /* SemanticsExample */ = { + 3E209D152C4717F500C4992C /* SemanticsExample */ = { isa = PBXGroup; children = ( - E5622DDE2A58D5F80035742A /* AppDelegate.h */, - E5622DDF2A58D5F80035742A /* AppDelegate.m */, - E5622DE42A58D5F80035742A /* ViewController.h */, - E5622DE52A58D5F80035742A /* ViewController.m */, - E5622DE72A58D5F80035742A /* Main.storyboard */, - E5622DEA2A58D5FA0035742A /* Assets.xcassets */, - E5622DEC2A58D5FA0035742A /* LaunchScreen.storyboard */, - E5622DEF2A58D5FA0035742A /* Info.plist */, - E5622DF02A58D5FA0035742A /* main.m */, + 3E209D242C4718AB00C4992C /* Info.plist */, + 3E209D2F2C481B7E00C4992C /* ARViewContainer.swift */, + 3E209D182C4717F500C4992C /* ContentView.swift */, + 3E209D2A2C47297A00C4992C /* SemanticFraction.swift */, + 3E209D282C47290800C4992C /* SemanticLabel.swift */, + 3E209D262C471C6900C4992C /* SemanticsExampleApp.swift */, ); path = SemanticsExample; sourceTree = "<group>"; @@ -74,38 +67,41 @@ /* End PBXGroup section */ /* Begin PBXNativeTarget section */ - E5622DDA2A58D5F80035742A /* SemanticsExample */ = { + 3E209D122C4717F500C4992C /* SemanticsExample */ = { isa = PBXNativeTarget; - buildConfigurationList = E5622DF42A58D5FA0035742A /* Build configuration list for PBXNativeTarget "SemanticsExample" */; + buildConfigurationList = 3E209D212C4717F600C4992C /* Build configuration list for PBXNativeTarget "SemanticsExample" */; buildPhases = ( - E5622DD72A58D5F80035742A /* Sources */, - E5622DD82A58D5F80035742A /* Frameworks */, - E5622DD92A58D5F80035742A /* Resources */, + 3E209D0F2C4717F500C4992C /* Sources */, + 3E209D102C4717F500C4992C /* Frameworks */, + 3E209D112C4717F500C4992C /* Resources */, ); buildRules = ( ); dependencies = ( ); name = SemanticsExample; + packageProductDependencies = ( + ); productName = SemanticsExample; - productReference = E5622DDB2A58D5F80035742A /* SemanticsExample.app */; + productReference = 3E209D132C4717F500C4992C /* SemanticsExample.app */; productType = "com.apple.product-type.application"; }; /* End PBXNativeTarget section */ /* Begin PBXProject section */ - E5622DD32A58D5F80035742A /* Project object */ = { + 3E209D0B2C4717F500C4992C /* Project object */ = { isa = PBXProject; attributes = { BuildIndependentTargetsInParallel = 1; - LastUpgradeCheck = 1430; + LastSwiftUpdateCheck = 1540; + LastUpgradeCheck = 1540; TargetAttributes = { - E5622DDA2A58D5F80035742A = { - CreatedOnToolsVersion = 14.3; + 3E209D122C4717F500C4992C = { + CreatedOnToolsVersion = 15.4; }; }; }; - buildConfigurationList = E5622DD62A58D5F80035742A /* Build configuration list for PBXProject "SemanticsExample" */; + buildConfigurationList = 3E209D0E2C4717F500C4992C /* Build configuration list for PBXProject "SemanticsExample" */; compatibilityVersion = "Xcode 14.0"; developmentRegion = en; hasScannedForEncodings = 0; @@ -113,66 +109,49 @@ en, Base, ); - mainGroup = E5622DD22A58D5F80035742A; - productRefGroup = E5622DDC2A58D5F80035742A /* Products */; + mainGroup = 3E209D0A2C4717F500C4992C; + packageReferences = ( + ); + productRefGroup = 3E209D142C4717F500C4992C /* Products */; projectDirPath = ""; projectRoot = ""; targets = ( - E5622DDA2A58D5F80035742A /* SemanticsExample */, + 3E209D122C4717F500C4992C /* SemanticsExample */, ); }; /* End PBXProject section */ /* Begin PBXResourcesBuildPhase section */ - E5622DD92A58D5F80035742A /* Resources */ = { + 3E209D112C4717F500C4992C /* Resources */ = { isa = PBXResourcesBuildPhase; buildActionMask = 2147483647; files = ( - E5622DEE2A58D5FA0035742A /* LaunchScreen.storyboard in Resources */, - E5622DEB2A58D5FA0035742A /* Assets.xcassets in Resources */, - E5622DE92A58D5F80035742A /* Main.storyboard in Resources */, ); runOnlyForDeploymentPostprocessing = 0; }; /* End PBXResourcesBuildPhase section */ /* Begin PBXSourcesBuildPhase section */ - E5622DD72A58D5F80035742A /* Sources */ = { + 3E209D0F2C4717F500C4992C /* Sources */ = { isa = PBXSourcesBuildPhase; buildActionMask = 2147483647; files = ( - E5622DE62A58D5F80035742A /* ViewController.m in Sources */, - E5622DE02A58D5F80035742A /* AppDelegate.m in Sources */, - E5622DF12A58D5FA0035742A /* main.m in Sources */, + 3E209D272C471C6900C4992C /* SemanticsExampleApp.swift in Sources */, + 3E209D192C4717F500C4992C /* ContentView.swift in Sources */, + 3E209D292C47290800C4992C /* SemanticLabel.swift in Sources */, + 3E209D2B2C47297A00C4992C /* SemanticFraction.swift in Sources */, + 3E209D302C481B7E00C4992C /* ARViewContainer.swift in Sources */, ); runOnlyForDeploymentPostprocessing = 0; }; /* End PBXSourcesBuildPhase section */ -/* Begin PBXVariantGroup section */ - E5622DE72A58D5F80035742A /* Main.storyboard */ = { - isa = PBXVariantGroup; - children = ( - E5622DE82A58D5F80035742A /* Base */, - ); - name = Main.storyboard; - sourceTree = "<group>"; - }; - E5622DEC2A58D5FA0035742A /* LaunchScreen.storyboard */ = { - isa = PBXVariantGroup; - children = ( - E5622DED2A58D5FA0035742A /* Base */, - ); - name = LaunchScreen.storyboard; - sourceTree = "<group>"; - }; -/* End PBXVariantGroup section */ - /* Begin XCBuildConfiguration section */ - E5622DF22A58D5FA0035742A /* Debug */ = { + 3E209D1F2C4717F600C4992C /* Debug */ = { isa = XCBuildConfiguration; buildSettings = { ALWAYS_SEARCH_USER_PATHS = NO; + ASSETCATALOG_COMPILER_GENERATE_SWIFT_ASSET_SYMBOL_EXTENSIONS = YES; CLANG_ANALYZER_NONNULL = YES; CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE; CLANG_CXX_LANGUAGE_STANDARD = "gnu++20"; @@ -205,7 +184,8 @@ DEBUG_INFORMATION_FORMAT = dwarf; ENABLE_STRICT_OBJC_MSGSEND = YES; ENABLE_TESTABILITY = YES; - GCC_C_LANGUAGE_STANDARD = gnu11; + ENABLE_USER_SCRIPT_SANDBOXING = NO; + GCC_C_LANGUAGE_STANDARD = gnu17; GCC_DYNAMIC_NO_PIC = NO; GCC_NO_COMMON_BLOCKS = YES; GCC_OPTIMIZATION_LEVEL = 0; @@ -219,18 +199,22 @@ GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE; GCC_WARN_UNUSED_FUNCTION = YES; GCC_WARN_UNUSED_VARIABLE = YES; - IPHONEOS_DEPLOYMENT_TARGET = 16.0; + IPHONEOS_DEPLOYMENT_TARGET = 15.0; + LOCALIZATION_PREFERS_STRING_CATALOGS = YES; MTL_ENABLE_DEBUG_INFO = INCLUDE_SOURCE; MTL_FAST_MATH = YES; ONLY_ACTIVE_ARCH = YES; SDKROOT = iphoneos; + SWIFT_ACTIVE_COMPILATION_CONDITIONS = "DEBUG $(inherited)"; + SWIFT_OPTIMIZATION_LEVEL = "-Onone"; }; name = Debug; }; - E5622DF32A58D5FA0035742A /* Release */ = { + 3E209D202C4717F600C4992C /* Release */ = { isa = XCBuildConfiguration; buildSettings = { ALWAYS_SEARCH_USER_PATHS = NO; + ASSETCATALOG_COMPILER_GENERATE_SWIFT_ASSET_SYMBOL_EXTENSIONS = YES; CLANG_ANALYZER_NONNULL = YES; CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE; CLANG_CXX_LANGUAGE_STANDARD = "gnu++20"; @@ -263,78 +247,98 @@ DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym"; ENABLE_NS_ASSERTIONS = NO; ENABLE_STRICT_OBJC_MSGSEND = YES; - GCC_C_LANGUAGE_STANDARD = gnu11; + ENABLE_USER_SCRIPT_SANDBOXING = NO; + GCC_C_LANGUAGE_STANDARD = gnu17; GCC_NO_COMMON_BLOCKS = YES; + GCC_OPTIMIZATION_LEVEL = s; GCC_WARN_64_TO_32_BIT_CONVERSION = YES; GCC_WARN_ABOUT_RETURN_TYPE = YES_ERROR; GCC_WARN_UNDECLARED_SELECTOR = YES; GCC_WARN_UNINITIALIZED_AUTOS = YES_AGGRESSIVE; GCC_WARN_UNUSED_FUNCTION = YES; GCC_WARN_UNUSED_VARIABLE = YES; - IPHONEOS_DEPLOYMENT_TARGET = 16.0; + IPHONEOS_DEPLOYMENT_TARGET = 15.0; + LOCALIZATION_PREFERS_STRING_CATALOGS = YES; MTL_ENABLE_DEBUG_INFO = NO; MTL_FAST_MATH = YES; SDKROOT = iphoneos; + SWIFT_COMPILATION_MODE = wholemodule; VALIDATE_PRODUCT = YES; }; name = Release; }; - E5622DF52A58D5FA0035742A /* Debug */ = { + 3E209D222C4717F600C4992C /* Debug */ = { isa = XCBuildConfiguration; buildSettings = { - ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; - ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor; - CODE_SIGN_STYLE = Automatic; + ASSETCATALOG_COMPILER_APPICON_NAME = ""; + ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = ""; + CODE_SIGN_STYLE = Manual; CURRENT_PROJECT_VERSION = 1; - GENERATE_INFOPLIST_FILE = YES; + DEVELOPMENT_ASSET_PATHS = ""; + DEVELOPMENT_TEAM = ""; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; INFOPLIST_FILE = SemanticsExample/Info.plist; + INFOPLIST_KEY_NSCameraUsageDescription = "Camera permission is needed for AR mode."; INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; - INFOPLIST_KEY_UILaunchStoryboardName = LaunchScreen; - INFOPLIST_KEY_UIMainStoryboardFile = Main; - INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = "UIInterfaceOrientationPortrait UIInterfaceOrientationPortraitUpsideDown UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight"; - INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = "UIInterfaceOrientationPortrait UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight"; + INFOPLIST_KEY_UILaunchScreen_Generation = YES; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = arkit; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UIStatusBarHidden = NO; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; LD_RUNPATH_SEARCH_PATHS = ( "$(inherited)", "@executable_path/Frameworks", ); + MARKETING_VERSION = 1.0; OTHER_LDFLAGS = ( "$(inherited)", "-ObjC", ); - MARKETING_VERSION = 1.0; - PRODUCT_BUNDLE_IDENTIFIER = com.google.arcore.SemanticsExample; + PRODUCT_BUNDLE_IDENTIFIER = com.google.ARSemantics; PRODUCT_NAME = "$(TARGET_NAME)"; + PROVISIONING_PROFILE_SPECIFIER = ""; SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Debug; }; - E5622DF62A58D5FA0035742A /* Release */ = { + 3E209D232C4717F600C4992C /* Release */ = { isa = XCBuildConfiguration; buildSettings = { - ASSETCATALOG_COMPILER_APPICON_NAME = AppIcon; - ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = AccentColor; - CODE_SIGN_STYLE = Automatic; + ASSETCATALOG_COMPILER_APPICON_NAME = ""; + ASSETCATALOG_COMPILER_GLOBAL_ACCENT_COLOR_NAME = ""; + CODE_SIGN_STYLE = Manual; CURRENT_PROJECT_VERSION = 1; - GENERATE_INFOPLIST_FILE = YES; + DEVELOPMENT_ASSET_PATHS = ""; + DEVELOPMENT_TEAM = ""; + ENABLE_PREVIEWS = YES; + GENERATE_INFOPLIST_FILE = NO; INFOPLIST_FILE = SemanticsExample/Info.plist; + INFOPLIST_KEY_NSCameraUsageDescription = "Camera permission is needed for AR mode."; INFOPLIST_KEY_UIApplicationSupportsIndirectInputEvents = YES; - INFOPLIST_KEY_UILaunchStoryboardName = LaunchScreen; - INFOPLIST_KEY_UIMainStoryboardFile = Main; - INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = "UIInterfaceOrientationPortrait UIInterfaceOrientationPortraitUpsideDown UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight"; - INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = "UIInterfaceOrientationPortrait UIInterfaceOrientationLandscapeLeft UIInterfaceOrientationLandscapeRight"; + INFOPLIST_KEY_UILaunchScreen_Generation = YES; + INFOPLIST_KEY_UIRequiredDeviceCapabilities = arkit; + INFOPLIST_KEY_UIRequiresFullScreen = YES; + INFOPLIST_KEY_UIStatusBarHidden = NO; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPad = UIInterfaceOrientationPortrait; + INFOPLIST_KEY_UISupportedInterfaceOrientations_iPhone = UIInterfaceOrientationPortrait; LD_RUNPATH_SEARCH_PATHS = ( "$(inherited)", "@executable_path/Frameworks", ); + MARKETING_VERSION = 1.0; OTHER_LDFLAGS = ( "$(inherited)", "-ObjC", ); - MARKETING_VERSION = 1.0; - PRODUCT_BUNDLE_IDENTIFIER = com.google.arcore.SemanticsExample; + PRODUCT_BUNDLE_IDENTIFIER = com.google.ARSemantics; PRODUCT_NAME = "$(TARGET_NAME)"; + PROVISIONING_PROFILE_SPECIFIER = ""; SWIFT_EMIT_LOC_STRINGS = YES; + SWIFT_VERSION = 5.0; TARGETED_DEVICE_FAMILY = "1,2"; }; name = Release; @@ -342,25 +346,25 @@ /* End XCBuildConfiguration section */ /* Begin XCConfigurationList section */ - E5622DD62A58D5F80035742A /* Build configuration list for PBXProject "SemanticsExample" */ = { + 3E209D0E2C4717F500C4992C /* Build configuration list for PBXProject "SemanticsExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - E5622DF22A58D5FA0035742A /* Debug */, - E5622DF32A58D5FA0035742A /* Release */, + 3E209D1F2C4717F600C4992C /* Debug */, + 3E209D202C4717F600C4992C /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; - E5622DF42A58D5FA0035742A /* Build configuration list for PBXNativeTarget "SemanticsExample" */ = { + 3E209D212C4717F600C4992C /* Build configuration list for PBXNativeTarget "SemanticsExample" */ = { isa = XCConfigurationList; buildConfigurations = ( - E5622DF52A58D5FA0035742A /* Debug */, - E5622DF62A58D5FA0035742A /* Release */, + 3E209D222C4717F600C4992C /* Debug */, + 3E209D232C4717F600C4992C /* Release */, ); defaultConfigurationIsVisible = 0; defaultConfigurationName = Release; }; /* End XCConfigurationList section */ }; - rootObject = E5622DD32A58D5F80035742A /* Project object */; + rootObject = 3E209D0B2C4717F500C4992C /* Project object */; } diff --git a/Examples/SemanticsExample/SemanticsExample/ARViewContainer.swift b/Examples/SemanticsExample/SemanticsExample/ARViewContainer.swift new file mode 100644 index 0000000..038851a --- /dev/null +++ b/Examples/SemanticsExample/SemanticsExample/ARViewContainer.swift @@ -0,0 +1,151 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import ARKit +import CoreGraphics +import CoreVideo +import RealityKit +import SwiftUI +import UIKit + +/// SwiftUI wrapper for an `ARView` and all rendering code. +struct ARViewContainer: UIViewRepresentable { + let semanticsEnabled: Bool + let fractions: [SemanticFraction] + @Binding var semanticImage: CGImage? + + /// Coordinator to act as `ARSessionDelegate` for `ARView`. + class Coordinator: NSObject, ARSessionDelegate { + private let fractions: [SemanticFraction] + @Binding private var semanticImage: CGImage? + private let colorMap: [UInt8: UIColor] + fileprivate let arView = ARView( + frame: .zero, cameraMode: .ar, automaticallyConfigureSession: false) + private let garSession: GARSession? + private var semanticData: Data? + private var semanticImageContext: CGContext? + + init(fractions: [SemanticFraction], semanticImage: Binding<CGImage?>) { + self.fractions = fractions + var colorMap: [UInt8: UIColor] = [:] + for fraction in fractions { + colorMap[UInt8(fraction.id.rawValue)] = fraction.color + } + self.colorMap = colorMap + _semanticImage = semanticImage + do { + garSession = try GARSession.session() + } catch let error as NSError { + print("Failed to create GARSession: \(error)") + garSession = nil + } + super.init() + setSemanticsEnabled(true) + arView.session.delegate = self + let configuration = ARWorldTrackingConfiguration() + configuration.worldAlignment = .gravity + arView.session.run(configuration) + } + + fileprivate func setSemanticsEnabled(_ enabled: Bool) { + guard let garSession else { return } + guard garSession.isSemanticModeSupported(.enabled) else { + print("Semantics is not supported by the given device/OS version.") + return + } + var error: NSError? = nil + let configuration = GARSessionConfiguration() + configuration.semanticMode = enabled ? .enabled : .disabled + garSession.setConfiguration(configuration, error: &error) + if let error { + print("Failed to configure GARSession: \(error)") + } + if !enabled { + for fraction in fractions { + fraction.fraction = 0 + } + } + } + + func session(_ session: ARSession, didUpdate frame: ARFrame) { + guard let garSession else { return } + guard let garFrame = try? garSession.update(frame) else { return } + guard let image = garFrame.semanticImage else { + semanticImage = nil + return + } + + if semanticData == nil { + let width = CVPixelBufferGetWidth(image) + let height = CVPixelBufferGetHeight(image) + semanticData = Data(repeating: 0, count: width * height * 4) + semanticData?.withUnsafeMutableBytes { pointer in + semanticImageContext = CGContext( + data: pointer.baseAddress, width: width, height: height, bitsPerComponent: 8, + bytesPerRow: width * 4, space: CGColorSpaceCreateDeviceRGB(), + bitmapInfo: CGImageAlphaInfo.premultipliedLast.rawValue + | CGBitmapInfo.byteOrderDefault.rawValue) + } + } + guard semanticData != nil, let semanticImageContext else { return } + + CVPixelBufferLockBaseAddress(image, .readOnly) + guard let baseAddress = CVPixelBufferGetBaseAddress(image) else { return } + let totalBytes = CVPixelBufferGetDataSize(image) + let labelBuffer = UnsafeRawBufferPointer(start: baseAddress, count: totalBytes) + .assumingMemoryBound(to: UInt8.self) + + semanticData?.withUnsafeMutableBytes { pointer in + let dataBuffer = pointer.assumingMemoryBound(to: UInt8.self) + for i in 0..<totalBytes { + var red: CGFloat = 0 + var green: CGFloat = 0 + var blue: CGFloat = 0 + var alpha: CGFloat = 0 + guard let color = self.colorMap[labelBuffer[i]], + color.getRed(&red, green: &green, blue: &blue, alpha: &alpha) + else { continue } + // Bounds checking makes this too slow when building without optimizations. + dataBuffer[i * 4] = UInt8(red * 255) + dataBuffer[i * 4 + 1] = UInt8(green * 255) + dataBuffer[i * 4 + 2] = UInt8(blue * 255) + dataBuffer[i * 4 + 3] = UInt8(alpha * 255) + } + } + + CVPixelBufferUnlockBaseAddress(image, []) + + semanticImage = semanticImageContext.makeImage() + + for fraction in fractions { + fraction.fraction = garFrame.fraction(for: fraction.id) + } + } + } + + func makeUIView(context: Context) -> ARView { + return context.coordinator.arView + } + + func updateUIView(_ uiView: ARView, context: Context) { + context.coordinator.setSemanticsEnabled(semanticsEnabled) + } + + func makeCoordinator() -> Coordinator { + return Coordinator(fractions: fractions, semanticImage: $semanticImage) + } +} diff --git a/Examples/SemanticsExample/SemanticsExample/AppDelegate.h b/Examples/SemanticsExample/SemanticsExample/AppDelegate.h deleted file mode 100644 index 87d8255..0000000 --- a/Examples/SemanticsExample/SemanticsExample/AppDelegate.h +++ /dev/null @@ -1,25 +0,0 @@ -/* - * Copyright 2023 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import <UIKit/UIKit.h> - -/** The app delegate for the sample app that responds to app life cycle events. */ -@interface AppDelegate : UIResponder <UIApplicationDelegate> - -/** Full screen window for the AR scene. */ -@property(nonatomic) UIWindow *window; - -@end diff --git a/Examples/SemanticsExample/SemanticsExample/AppDelegate.m b/Examples/SemanticsExample/SemanticsExample/AppDelegate.m deleted file mode 100644 index 5ad90c3..0000000 --- a/Examples/SemanticsExample/SemanticsExample/AppDelegate.m +++ /dev/null @@ -1,39 +0,0 @@ -/* - * Copyright 2023 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "AppDelegate.h" - -#import "ViewController.h" - -@implementation AppDelegate - -- (BOOL)application:(UIApplication *)application - didFinishLaunchingWithOptions:(NSDictionary<UIApplicationLaunchOptionsKey, id> *)launchOptions { - [UIApplication sharedApplication].idleTimerDisabled = YES; - self.window = [[UIWindow alloc] init]; - UIStoryboard *storyBoard = [UIStoryboard storyboardWithName:@"Main" bundle:nil]; - ViewController *viewController = [storyBoard instantiateInitialViewController]; - self.window.rootViewController = viewController; - [self.window makeKeyAndVisible]; - return YES; -} - -- (UIInterfaceOrientationMask)application:(UIApplication *)application - supportedInterfaceOrientationsForWindow:(UIWindow *)window { - return UIInterfaceOrientationMaskPortrait; -} - -@end diff --git a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AccentColor.colorset/Contents.json b/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AccentColor.colorset/Contents.json deleted file mode 100644 index eb87897..0000000 --- a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AccentColor.colorset/Contents.json +++ /dev/null @@ -1,11 +0,0 @@ -{ - "colors" : [ - { - "idiom" : "universal" - } - ], - "info" : { - "author" : "xcode", - "version" : 1 - } -} diff --git a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AppIcon.appiconset/Contents.json b/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AppIcon.appiconset/Contents.json deleted file mode 100644 index 13613e3..0000000 --- a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/AppIcon.appiconset/Contents.json +++ /dev/null @@ -1,13 +0,0 @@ -{ - "images" : [ - { - "idiom" : "universal", - "platform" : "ios", - "size" : "1024x1024" - } - ], - "info" : { - "author" : "xcode", - "version" : 1 - } -} diff --git a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/Contents.json b/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/Contents.json deleted file mode 100644 index 73c0059..0000000 --- a/Examples/SemanticsExample/SemanticsExample/Assets.xcassets/Contents.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "info" : { - "author" : "xcode", - "version" : 1 - } -} diff --git a/Examples/SemanticsExample/SemanticsExample/Base.lproj/LaunchScreen.storyboard b/Examples/SemanticsExample/SemanticsExample/Base.lproj/LaunchScreen.storyboard deleted file mode 100644 index 865e932..0000000 --- a/Examples/SemanticsExample/SemanticsExample/Base.lproj/LaunchScreen.storyboard +++ /dev/null @@ -1,25 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" standalone="no"?> -<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="13122.16" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM"> - <dependencies> - <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="13104.12"/> - <capability name="Safe area layout guides" minToolsVersion="9.0"/> - <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/> - </dependencies> - <scenes> - <!--View Controller--> - <scene sceneID="EHf-IW-A2E"> - <objects> - <viewController id="01J-lp-oVM" sceneMemberID="viewController"> - <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3"> - <rect key="frame" x="0.0" y="0.0" width="375" height="667"/> - <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/> - <color key="backgroundColor" xcode11CocoaTouchSystemColor="systemBackgroundColor" cocoaTouchSystemColor="whiteColor"/> - <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/> - </view> - </viewController> - <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/> - </objects> - <point key="canvasLocation" x="53" y="375"/> - </scene> - </scenes> -</document> diff --git a/Examples/SemanticsExample/SemanticsExample/Base.lproj/Main.storyboard b/Examples/SemanticsExample/SemanticsExample/Base.lproj/Main.storyboard deleted file mode 100644 index 808a21c..0000000 --- a/Examples/SemanticsExample/SemanticsExample/Base.lproj/Main.storyboard +++ /dev/null @@ -1,24 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="13122.16" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="BYZ-38-t0r"> - <dependencies> - <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="13104.12"/> - <capability name="Safe area layout guides" minToolsVersion="9.0"/> - <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/> - </dependencies> - <scenes> - <!--View Controller--> - <scene sceneID="tne-QT-ifu"> - <objects> - <viewController id="BYZ-38-t0r" customClass="ViewController" customModuleProvider="" sceneMemberID="viewController"> - <view key="view" contentMode="scaleToFill" id="8bC-Xf-vdC"> - <rect key="frame" x="0.0" y="0.0" width="375" height="667"/> - <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/> - <color key="backgroundColor" xcode11CocoaTouchSystemColor="systemBackgroundColor" cocoaTouchSystemColor="whiteColor"/> - <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/> - </view> - </viewController> - <placeholder placeholderIdentifier="IBFirstResponder" id="dkx-z0-nzr" sceneMemberID="firstResponder"/> - </objects> - </scene> - </scenes> -</document> diff --git a/Examples/SemanticsExample/SemanticsExample/ContentView.swift b/Examples/SemanticsExample/SemanticsExample/ContentView.swift new file mode 100644 index 0000000..bb1b430 --- /dev/null +++ b/Examples/SemanticsExample/SemanticsExample/ContentView.swift @@ -0,0 +1,101 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import CoreGraphics +import RealityKit +import SwiftUI +import UIKit + +/// View for testing the ARCore Semantics API. +struct ContentView: View { + @State var fractions: [SemanticFraction] = [ + SemanticFraction( + id: .unlabeled, name: "Unlabeled", color: UIColor(red: 0.0, green: 0.0, blue: 0.0, alpha: 0.5) + ), + SemanticFraction( + id: .sky, name: "Sky", color: UIColor(red: 0.27, green: 0.50, blue: 0.70, alpha: 0.5)), + SemanticFraction( + id: .building, name: "Building", + color: UIColor(red: 0.27, green: 0.27, blue: 0.27, alpha: 0.5)), + SemanticFraction( + id: .tree, name: "Tree", color: UIColor(red: 0.13, green: 0.54, blue: 0.13, alpha: 0.5)), + SemanticFraction( + id: .road, name: "Road", color: UIColor(red: 0.54, green: 0.16, blue: 0.88, alpha: 0.5)), + SemanticFraction( + id: .sidewalk, name: "Sidewalk", + color: UIColor(red: 0.95, green: 0.13, blue: 0.90, alpha: 0.5)), + SemanticFraction( + id: .terrain, name: "Terrain", color: UIColor(red: 0.59, green: 0.98, blue: 0.59, alpha: 0.5)), + SemanticFraction( + id: .structure, name: "Structure", + color: UIColor(red: 0.82, green: 0.70, blue: 0.54, alpha: 0.5)), + SemanticFraction( + id: .object, name: "Object", color: UIColor(red: 0.86, green: 0.86, blue: 0.0, alpha: 0.5)), + SemanticFraction( + id: .vehicle, name: "Vehicle", color: UIColor(red: 0.06, green: 0.06, blue: 0.90, alpha: 0.5)), + SemanticFraction( + id: .person, name: "Person", color: UIColor(red: 1.0, green: 0.03, blue: 0.0, alpha: 0.5)), + SemanticFraction( + id: .water, name: "Water", color: UIColor(red: 0.0, green: 1.0, blue: 1.0, alpha: 0.5)), + ] + @State var semanticImage: CGImage? + @State var showLegend = false + @State var semanticsEnabled = true + + var body: some View { + ZStack(alignment: .bottomLeading) { + ARViewContainer( + semanticsEnabled: semanticsEnabled, fractions: fractions, semanticImage: $semanticImage + ) + .ignoresSafeArea() + .onTapGesture { + semanticsEnabled.toggle() + } + if let semanticImage { + GeometryReader { proxy in + Image(semanticImage, scale: 1, orientation: .right, label: Text("Semantic Image")) + .resizable() + .scaledToFill() + .frame(width: proxy.size.width, height: proxy.size.height, alignment: .center) + .clipped() + } + .ignoresSafeArea() + .allowsHitTesting(false) + } + VStack(alignment: .leading, spacing: 5) { + if showLegend { + ForEach(fractions) { fraction in + SemanticLabel(fraction: fraction) + } + } + Button { + showLegend.toggle() + } label: { + Text(showLegend ? "Hide Legend" : "Show Legend") + } + .padding(5) + .frame(maxWidth: .infinity) + } + .background(Color(white: 0, opacity: 0.8).ignoresSafeArea(edges: [])) + .frame(width: 150) + } + } +} + +#Preview { + ContentView() +} diff --git a/Examples/SemanticsExample/SemanticsExample/Info.plist b/Examples/SemanticsExample/SemanticsExample/Info.plist index 87de456..e4c920a 100644 --- a/Examples/SemanticsExample/SemanticsExample/Info.plist +++ b/Examples/SemanticsExample/SemanticsExample/Info.plist @@ -24,17 +24,24 @@ <string>Camera permission is needed for AR mode.</string> <key>UIApplicationSupportsIndirectInputEvents</key> <true/> - <key>UILaunchStoryboardName</key> - <string>LaunchScreen</string> - <key>UIMainStoryboardFile</key> - <string>Main</string> + <key>UILaunchScreen</key> + <dict> + <key>UILaunchScreen</key> + <dict/> + </dict> <key>UIRequiredDeviceCapabilities</key> <array> <string>arkit</string> </array> <key>UIRequiresFullScreen</key> <true/> - <key>UISupportedInterfaceOrientations</key> + <key>UIStatusBarHidden</key> + <false/> + <key>UISupportedInterfaceOrientations~ipad</key> + <array> + <string>UIInterfaceOrientationPortrait</string> + </array> + <key>UISupportedInterfaceOrientations~iphone</key> <array> <string>UIInterfaceOrientationPortrait</string> </array> diff --git a/Examples/SemanticsExample/SemanticsExample/SemanticFraction.swift b/Examples/SemanticsExample/SemanticsExample/SemanticFraction.swift new file mode 100644 index 0000000..ca4b431 --- /dev/null +++ b/Examples/SemanticsExample/SemanticsExample/SemanticFraction.swift @@ -0,0 +1,35 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import ARCore +import Foundation +import SwiftUI +import UIKit + +/// A semantic label fraction to be displayed in the legend and updated on every frame. +class SemanticFraction: Identifiable, ObservableObject { + let id: GARSemanticLabel + let name: String + let color: UIColor + + @Published var fraction: Float = 0 + + init(id: GARSemanticLabel, name: String, color: UIColor) { + self.id = id + self.name = name + self.color = color + } +} diff --git a/Examples/SemanticsExample/SemanticsExample/SemanticLabel.swift b/Examples/SemanticsExample/SemanticsExample/SemanticLabel.swift new file mode 100644 index 0000000..a85c262 --- /dev/null +++ b/Examples/SemanticsExample/SemanticsExample/SemanticLabel.swift @@ -0,0 +1,49 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +/// View for displaying a semantic label fraction and color box. +struct SemanticLabel: View { + @ObservedObject var fraction: SemanticFraction + @State var textHeight: CGFloat = 0 + + var body: some View { + HStack(alignment: .center, spacing: 0) { + Rectangle() + .foregroundStyle(Color(uiColor: fraction.color)) + .frame(width: textHeight * 0.7, height: textHeight * 0.7) + .padding(.leading, 5) + Text(fraction.name) + .foregroundStyle(.white) + .fixedSize() + .padding(.leading, 5) + .lineLimit(1) + .overlay( + GeometryReader { proxy in + Color.clear.onAppear { + textHeight = proxy.size.height + } + } + ) + Spacer() + Text(String(format: "%.2f", arguments: [fraction.fraction])) + .foregroundStyle(.white) + .padding(.trailing, 5) + } + .padding([.top, .bottom], 2.5) + } +} diff --git a/Examples/SemanticsExample/SemanticsExample/SemanticsExampleApp.swift b/Examples/SemanticsExample/SemanticsExample/SemanticsExampleApp.swift new file mode 100644 index 0000000..595903a --- /dev/null +++ b/Examples/SemanticsExample/SemanticsExample/SemanticsExampleApp.swift @@ -0,0 +1,26 @@ +// +// Copyright 2024 Google LLC. All Rights Reserved. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// + +import SwiftUI + +@main +struct SemanticsExampleApp: App { + var body: some Scene { + WindowGroup { + ContentView() + } + } +} diff --git a/Examples/SemanticsExample/SemanticsExample/ViewController.h b/Examples/SemanticsExample/SemanticsExample/ViewController.h deleted file mode 100644 index 3a7e820..0000000 --- a/Examples/SemanticsExample/SemanticsExample/ViewController.h +++ /dev/null @@ -1,21 +0,0 @@ -/* - * Copyright 2023 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ -#import <UIKit/UIKit.h> - -/** A minimal AR scene which overlays semantic images on the ARKit frames. */ -@interface ViewController : UIViewController - -@end diff --git a/Examples/SemanticsExample/SemanticsExample/ViewController.m b/Examples/SemanticsExample/SemanticsExample/ViewController.m deleted file mode 100644 index 30c725e..0000000 --- a/Examples/SemanticsExample/SemanticsExample/ViewController.m +++ /dev/null @@ -1,387 +0,0 @@ -/* - * Copyright 2023 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import "ViewController.h" - -#import <ARKit/ARKit.h> -#import <CoreGraphics/CoreGraphics.h> -#import <Foundation/Foundation.h> -#import <UIKit/UIKit.h> - -#include <simd/simd.h> - -#import <ARCore/ARCore.h> - -@interface ViewController () <ARSessionDelegate> - -/** ARCore session, used for geospatial localization. */ -@property(nonatomic) GARSession *garSession; - -/** ARKit session. */ -@property(nonatomic) ARSession *arSession; - -/** A view that shows an AR enabled camera feed and 3D content. */ -@property(nonatomic, weak) ARSCNView *scnView; - -/** Context for drawing semantic images. */ -@property(nonatomic) CGContextRef semanticImageContext; - -/** UIImage for drawing semantic images. */ -@property(nonatomic) UIImage *semanticUiImage; - -/** Buffer for semantics data. */ -@property(nonatomic) NSMutableData *semanticData; - -/** Image view for semantic images. */ -@property(nonatomic) UIImageView *imageView; - -/** Legend for semantic color labels. */ -@property(nonatomic) UIStackView *colorLegend; - -/** Semantic label fractions for each label. Updated each frame. */ -@property(nonatomic) NSMutableArray<NSNumber *> *labelFractions; - -/** Current semantics mode. */ -@property(nonatomic) GARSemanticMode semanticMode; - -/** Default colors for visualizing semantic labeling image. */ -@property(nonatomic) NSArray<UIColor *> *colorMap; - -/** Labels corresponding to `GARSemanticLabel` classes. */ -@property(nonatomic) NSArray<NSString *> *colorLabels; - -@end - -@implementation ViewController - -- (void)viewDidLoad { - [super viewDidLoad]; - - ARSCNView *scnView = [[ARSCNView alloc] init]; - scnView.translatesAutoresizingMaskIntoConstraints = NO; - self.scnView = scnView; - self.arSession = self.scnView.session; - [self.view addSubview:self.scnView]; - - self.imageView = [[UIImageView alloc] initWithImage:nil]; - self.imageView.contentMode = UIViewContentModeScaleAspectFill; - self.imageView.translatesAutoresizingMaskIntoConstraints = NO; - [self.scnView addSubview:self.imageView]; - - // Align the semantic UIImageView with the AR scene view to ensure the semantic image overlays the - // physical world. - [self.imageView.bottomAnchor constraintEqualToAnchor:self.view.bottomAnchor].active = YES; - [self.imageView.heightAnchor constraintEqualToAnchor:self.view.heightAnchor].active = YES; - [self.imageView.centerXAnchor constraintEqualToAnchor:self.view.centerXAnchor].active = YES; - [self.imageView.centerYAnchor constraintEqualToAnchor:self.view.centerYAnchor].active = YES; - - [self.scnView.topAnchor constraintEqualToAnchor:self.view.topAnchor].active = YES; - [self.scnView.bottomAnchor constraintEqualToAnchor:self.view.bottomAnchor].active = YES; - [self.scnView.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - [self.scnView.rightAnchor constraintEqualToAnchor:self.view.rightAnchor].active = YES; - - // Setup default color labels. - self.colorMap = @[ - [UIColor colorWithRed:0.0 green:0.0 blue:0.0 alpha:.5], // unlabeled - [UIColor colorWithRed:0.27 green:0.50 blue:0.70 alpha:.5], // sky - [UIColor colorWithRed:0.27 green:0.27 blue:0.27 alpha:.5], // building - [UIColor colorWithRed:0.13 green:0.54 blue:0.13 alpha:.5], // tree - [UIColor colorWithRed:0.54 green:0.16 blue:0.88 alpha:.5], // road - [UIColor colorWithRed:0.95 green:0.13 blue:0.90 alpha:.5], // sidewalk - [UIColor colorWithRed:0.59 green:0.98 blue:0.59 alpha:.5], // terrain - [UIColor colorWithRed:0.82 green:0.70 blue:0.54 alpha:.5], // structure - [UIColor colorWithRed:0.86 green:0.86 blue:0.0 alpha:.5], // object - [UIColor colorWithRed:0.06 green:0.06 blue:0.90 alpha:.5], // vehicle - [UIColor colorWithRed:1.0 green:0.03 blue:0.0 alpha:.5], // person - [UIColor colorWithRed:0.0 green:1.0 blue:1.0 alpha:.5], // water - ]; - - self.colorLabels = @[ - @"Unlabeled", - @"Sky", - @"Building", - @"Tree", - @"Road", - @"Sidewalk", - @"Terrain", - @"Structure", - @"Object", - @"Vehicle", - @"Person", - @"Water", - ]; - - // Add a color legend to understand each category. - self.colorLegend = [self addLegend]; - [self.colorLegend setHidden:YES]; - - self.labelFractions = [NSMutableArray arrayWithCapacity:self.colorLabels.count]; - for (int i = 0; i < self.colorLabels.count; i++) { - [self.labelFractions addObject:@(0.0)]; - } - - UIButton *toggleLegend = [UIButton buttonWithType:UIButtonTypeSystem]; - toggleLegend.translatesAutoresizingMaskIntoConstraints = NO; - toggleLegend.backgroundColor = [UIColor colorWithRed:0 green:0 blue:0 alpha:.8]; - [toggleLegend setTitle:@"Show Legend" forState:UIControlStateNormal]; - [toggleLegend addTarget:self - action:@selector(toggleLegend:) - forControlEvents:UIControlEventTouchDown]; - - [self.view addSubview:toggleLegend]; - - [toggleLegend.bottomAnchor constraintEqualToAnchor:self.view.safeAreaLayoutGuide.bottomAnchor] - .active = YES; - [toggleLegend.leftAnchor constraintEqualToAnchor:self.colorLegend.leftAnchor].active = YES; - [toggleLegend.rightAnchor constraintEqualToAnchor:self.colorLegend.rightAnchor].active = YES; - - [self.colorLegend.bottomAnchor constraintEqualToAnchor:toggleLegend.topAnchor].active = YES; - - // Enable/disable semantics on screen tap. - UITapGestureRecognizer *tapGesture = - [[UITapGestureRecognizer alloc] initWithTarget:self action:@selector(toggleSemantics:)]; - [self.scnView addGestureRecognizer:tapGesture]; - - [self.view sendSubviewToBack:self.scnView]; -} - -/** Toggles color legend visibility. */ -- (void)toggleLegend:(UIButton *)sender { - if (self.colorLegend.isHidden) { - [self.colorLegend setHidden:NO]; - [sender setTitle:@"Hide Legend" forState:UIControlStateNormal]; - } else { - [self.colorLegend setHidden:YES]; - [sender setTitle:@"Show Legend" forState:UIControlStateNormal]; - } -} - -/** Updates semantic label fractions on legend. */ -- (void)updateLegendFractions { - for (int i = 0; i < self.colorLabels.count; i++) { - UIView *colorView = self.colorLegend.arrangedSubviews[i]; - UILabel *fraction = colorView.subviews[2]; - fraction.text = [NSString stringWithFormat:@"%.2f", self.labelFractions[i].floatValue]; - } -} - -/** Returns a box showing the semantic label's name and default color. */ -- (UIView *)colorView:(NSString *)name color:(UIColor *)color { - UIView *containerView = [[UIView alloc] init]; - UILabel *label = [[UILabel alloc] init]; - UILabel *fraction = [[UILabel alloc] init]; - UIView *box = [[UIView alloc] init]; - containerView.translatesAutoresizingMaskIntoConstraints = NO; - box.translatesAutoresizingMaskIntoConstraints = NO; - label.translatesAutoresizingMaskIntoConstraints = NO; - fraction.translatesAutoresizingMaskIntoConstraints = NO; - - label.text = name; - label.textColor = UIColor.whiteColor; - fraction.textColor = UIColor.whiteColor; - fraction.text = @"0.00"; - - box.backgroundColor = color; - - [containerView addSubview:box]; - [containerView addSubview:label]; - [containerView addSubview:fraction]; - - CGFloat padding = 5; - - [containerView.heightAnchor constraintEqualToAnchor:label.heightAnchor constant:padding].active = - YES; - [containerView.widthAnchor constraintEqualToConstant:150].active = YES; - [containerView.rightAnchor constraintEqualToAnchor:fraction.rightAnchor constant:padding].active = - YES; - - [label.leftAnchor constraintEqualToAnchor:box.rightAnchor constant:padding].active = YES; - [label.centerYAnchor constraintEqualToAnchor:containerView.centerYAnchor].active = YES; - - [fraction.centerYAnchor constraintEqualToAnchor:containerView.centerYAnchor].active = YES; - - [box.leftAnchor constraintEqualToAnchor:containerView.leftAnchor constant:padding].active = YES; - [box.centerYAnchor constraintEqualToAnchor:containerView.centerYAnchor].active = YES; - [box.heightAnchor constraintEqualToAnchor:label.heightAnchor multiplier:.7].active = YES; - [box.widthAnchor constraintEqualToAnchor:box.heightAnchor].active = YES; - - return containerView; -} - -/** Adds legend to view for semantic label colors. */ -- (UIStackView *)addLegend { - UIStackView *colorLegend = [[UIStackView alloc] init]; - colorLegend.translatesAutoresizingMaskIntoConstraints = NO; - colorLegend.axis = UILayoutConstraintAxisVertical; - colorLegend.spacing = 5; - colorLegend.distribution = UIStackViewDistributionFillEqually; - [self.view addSubview:colorLegend]; - - [colorLegend.leftAnchor constraintEqualToAnchor:self.view.leftAnchor].active = YES; - - UIView *background = [[UIView alloc] initWithFrame:colorLegend.frame]; - background.translatesAutoresizingMaskIntoConstraints = NO; - background.backgroundColor = [UIColor colorWithRed:0 green:0 blue:0 alpha:.8]; - background.autoresizingMask = UIViewAutoresizingFlexibleWidth | UIViewAutoresizingFlexibleHeight; - [colorLegend addSubview:background]; - - for (int i = 0; i < self.colorMap.count; i++) { - UIColor *color = self.colorMap[i]; - [colorLegend addArrangedSubview:[self colorView:self.colorLabels[i] color:color]]; - } - - return colorLegend; -} - -- (void)viewDidAppear:(BOOL)animated { - [super viewDidAppear:animated]; - - self.semanticMode = GARSemanticModeEnabled; - [self setUpARSession]; - [self setUpGARSession]; -} - -/** Initializes ARKit session. */ -- (void)setUpARSession { - ARWorldTrackingConfiguration *configuration = [[ARWorldTrackingConfiguration alloc] init]; - configuration.worldAlignment = ARWorldAlignmentGravity; - - self.arSession.delegate = self; - [self.arSession runWithConfiguration:configuration]; -} - -/** Initializes GARSession with the required `GARSemanticModeEnabled`. */ -- (void)setUpGARSession { - NSError *error = nil; - self.garSession = [GARSession sessionWithError:&error]; - - if (error) { - NSLog(@"Failed to create GARSession: %d", (int)error.code); - return; - } - [self configureSemantics:self.semanticMode]; -} - -/** Configure GARSession with given GARSemanticMode. */ -- (void)configureSemantics:(GARSemanticMode)semanticMode { - if (![self.garSession isSemanticModeSupported:GARSemanticModeEnabled]) { - NSLog(@"Semantics is not supported by the given device/OS version."); - return; - } - - GARSessionConfiguration *configuration = [[GARSessionConfiguration alloc] init]; - configuration.semanticMode = semanticMode; - NSError *error; - [self.garSession setConfiguration:configuration error:&error]; - if (error) { - NSLog(@"Failed to configure GARSession: %d", (int)error.code); - } -} - -/** Toggles semantics mode. */ -- (void)toggleSemantics:(UITapGestureRecognizer *)recognizer { - if (self.semanticMode == GARSemanticModeEnabled) { - self.semanticMode = GARSemanticModeDisabled; - self.imageView.image = nil; - for (int i = 0; i < self.labelFractions.count; i++) { - self.labelFractions[i] = @(0.0); - } - [self updateLegendFractions]; - } else { - self.semanticMode = GARSemanticModeEnabled; - } - - [self configureSemantics:self.semanticMode]; -} - -/** Initializes the semantic image buffers with the given dimensions. */ -- (void)initializeSemanticImageWithWidth:(size_t)width height:(size_t)height { - // UIImageView for rendering semantic image. The semantic image pixels are 8-bit class labels, and - // are converted to some default colors for visualization. - self.semanticData = [NSMutableData dataWithLength:(width * height * 4)]; - self.semanticImageContext = - CGBitmapContextCreate((void *)self.semanticData.mutableBytes, width, height, - /* bitsPerComponent= */ 8, - /* bytesPerRow= */ width * 4, CGColorSpaceCreateDeviceRGB(), - kCGImageAlphaPremultipliedLast | kCGBitmapByteOrderDefault); -} - -/** Updates the UI with the latest semantic data. */ -- (void)updateSemantics:(GARFrame *)garFrame { - CVPixelBufferRef pixelBuffer = garFrame.semanticImage; - if (!pixelBuffer) { - NSLog(@"Semantic images are not yet available."); - return; - } - - if (!self.semanticData) { - [self initializeSemanticImageWithWidth:CVPixelBufferGetWidth(pixelBuffer) - height:CVPixelBufferGetHeight(pixelBuffer)]; - } - - // CVPixelBuffer base address must be locked before access. - CVPixelBufferLockBaseAddress(pixelBuffer, kCVPixelBufferLock_ReadOnly); - uint8_t *baseAddress = (uint8_t *)CVPixelBufferGetBaseAddress(pixelBuffer); - size_t totalBytes = CVPixelBufferGetDataSize(pixelBuffer); - - // Copy GARFrame's semantic data to be rendered by a UIImage. - for (size_t i = 0; i < totalBytes; i++) { - CGFloat red, green, blue, alpha; - [self.colorMap[baseAddress[i]] getRed:&red green:&green blue:&blue alpha:&alpha]; - - uint8_t *semanticData = (uint8_t *)self.semanticData.mutableBytes; - - semanticData[i * 4 + 0] = red * 255; - semanticData[i * 4 + 1] = green * 255; - semanticData[i * 4 + 2] = blue * 255; - semanticData[i * 4 + 3] = alpha * 255; - } - - // |GARFrame#acquireSemanticImage:error| implicitly retains the semantic image. It must be - // released here. - CVPixelBufferUnlockBaseAddress(pixelBuffer, 0); - - CGImageRef imageRef = CGBitmapContextCreateImage(self.semanticImageContext); - UIImage *image = [UIImage imageWithCGImage:imageRef - scale:1.0 - orientation:UIImageOrientationRight]; - CGImageRelease(imageRef); - - self.imageView.image = image; - - // Update the semantic label fractions. - for (int i = 0; i < self.colorLabels.count; i++) { - self.labelFractions[i] = @([garFrame fractionForSemanticLabel:(GARSemanticLabel)i]); - } -} - -- (void)dealloc { - CGContextRelease(self.semanticImageContext); -} - -#pragma mark - ARSessionDelegate - -/** ARKit delege update which passes frame updates to GARSession. */ -- (void)session:(ARSession *)session didUpdateFrame:(ARFrame *)frame { - if (self.garSession == nil) { - return; - } - GARFrame *garFrame = [self.garSession update:frame error:nil]; - [self updateSemantics:garFrame]; - [self updateLegendFractions]; -} - -@end diff --git a/Examples/SemanticsExample/SemanticsExample/main.m b/Examples/SemanticsExample/SemanticsExample/main.m deleted file mode 100644 index efab901..0000000 --- a/Examples/SemanticsExample/SemanticsExample/main.m +++ /dev/null @@ -1,25 +0,0 @@ -/* - * Copyright 2023 Google LLC. All Rights Reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#import <UIKit/UIKit.h> - -#import "AppDelegate.h" - -int main(int argc, char* argv[]) { - @autoreleasepool { - return UIApplicationMain(argc, argv, nil, NSStringFromClass([AppDelegate class])); - } -} diff --git a/LICENSE b/LICENSE index 2bf4ac3..4def239 100644 --- a/LICENSE +++ b/LICENSE @@ -4675,6 +4675,82 @@ This software is partially based on Khronos OpenGL headers: See the License for the specific language governing permissions and limitations under the License. +This software is partially based on KleidiAI: + +Apache License +Version 2.0, January 2004 +http://www.apache.org/licenses/ + +TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + +1. 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We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. + +Copyright [yyyy] [name of copyright owner] + +Licensed under the Apache License, Version 2.0 (the "License"); +you may not use this file except in compliance with the License. +You may obtain a copy of the License at + +http://www.apache.org/licenses/LICENSE-2.0 + +Unless required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS, +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +See the License for the specific language governing permissions and +limitations under the License. + This software is partially based on Kotlin: Files: kotlinc/* @@ -8276,6 +8352,64 @@ License: Apache 2.0 See the License for the specific language governing permissions and limitations under the License. +============================================================================== +============================================================================== +Copied from llvm-project/llvm/lib/Support/rpmalloc/README.md + +This is free and unencumbered software released into the public domain. + +Anyone is free to copy, modify, publish, use, compile, sell, or distribute this software, either in source code form or as a compiled binary, for any purpose, commercial or non-commercial, and by any means. + +In jurisdictions that recognize copyright laws, the author or authors of this software dedicate any and all copyright interest in the software to the public domain. We make this dedication for the benefit of the public at large and to the detriment of our heirs and successors. We intend this dedication to be an overt act of relinquishment in perpetuity of all present and future rights to this software under copyright law. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +For more information, please refer to http://unlicense.org + +You can also use this software under the MIT license if public domain is not recognized in your country + +The MIT License (MIT) + +Copyright (c) 2017 Mattias Jansson + +Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + +============================================================================== +============================================================================== +Copied from llvm-project/llvm/lib/Support/rpmalloc/README.md + +Files: llvm/docker_kokoro/dockerfiles/scripts/google_packages/deb_packages/copyright +License: + * This code is derived from (original license follows): + * + * This is an OpenSSL-compatible implementation of the RSA Data Security, Inc. + * MD5 Message-Digest Algorithm (RFC 1321). + * + * Homepage: + * http://openwall.info/wiki/people/solar/software/public-domain-source-code/md5 + * + * Author: + * Alexander Peslyak, better known as Solar Designer <solar at openwall.com> + * + * This software was written by Alexander Peslyak in 2001. No copyright is + * claimed, and the software is hereby placed in the public domain. + * In case this attempt to disclaim copyright and place the software in the + * public domain is deemed null and void, then the software is + * Copyright (c) 2001 Alexander Peslyak and it is hereby released to the + * general public under the following terms: + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted. + * + * There's ABSOLUTELY NO WARRANTY, express or implied. + * + * See md5.c for more information. + */ + This software is partially based on MediaPipe: Apache License diff --git a/Package.swift b/Package.swift index 0a6814d..7237b7c 100644 --- a/Package.swift +++ b/Package.swift @@ -1,6 +1,6 @@ // swift-tools-version: 5.5 /* - * Copyright 2022 Google LLC + * Copyright 2024 Google LLC * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -35,8 +35,8 @@ let package = Package( ], targets: [ .binaryTarget( - name: "ARCoreBase", url: "https://dl.google.com/arcore/swiftpm/1.44.0/Base.zip", - checksum: "37c06ff51aeea4a05d04898c59e717b7998961bd9be945bc93ac468547653eda" + name: "ARCoreBase", url: "https://dl.google.com/arcore/swiftpm/1.45.0/Base.zip", + checksum: "a1c17b5fab235b97a3e96d7b249ca78ecde0cbe9c868b24b65a00af94f2dfb4b" ), .target( name: "Base", @@ -51,8 +51,8 @@ let package = Package( ), .binaryTarget( name: "ARCoreCloudAnchors", - url: "https://dl.google.com/arcore/swiftpm/1.44.0/CloudAnchors.zip", - checksum: "f025aefe1f1b25a54a2c14e1f28e5cfbfb0dc2563a08ab4c32cbcb6436ae47ac" + url: "https://dl.google.com/arcore/swiftpm/1.45.0/CloudAnchors.zip", + checksum: "a5232b391f5f84ebbc2321f3c49156220a4dee2edc2cfe5db6a745e1f0f8f6bd" ), .target( name: "CloudAnchors", @@ -67,8 +67,8 @@ let package = Package( publicHeadersPath: "Sources" ), .binaryTarget( - name: "ARCoreGeospatial", url: "https://dl.google.com/arcore/swiftpm/1.44.0/Geospatial.zip", - checksum: "126086dd5d36818a3f2f50c6354322ebb0ae7d27d88eec431a1a3343aa62eabb" + name: "ARCoreGeospatial", url: "https://dl.google.com/arcore/swiftpm/1.45.0/Geospatial.zip", + checksum: "ed6bb8155bdae259661d41b21c2c06a479b8d2d05796cad89eed32d40f478564" ), .target( name: "Geospatial", @@ -81,8 +81,8 @@ let package = Package( publicHeadersPath: "Sources" ), .binaryTarget( - name: "ARCoreGARSession", url: "https://dl.google.com/arcore/swiftpm/1.44.0/GARSession.zip", - checksum: "c2b26b211fdb255f4d37734936d03bf1a362d4faa1681bb1566f3f3f27c1b5f5" + name: "ARCoreGARSession", url: "https://dl.google.com/arcore/swiftpm/1.45.0/GARSession.zip", + checksum: "46ae76553c65018c549ee616be0bdef7492035137f797159d9b272495be3633f" ), .target( name: "GARSession", @@ -99,8 +99,8 @@ let package = Package( ), .binaryTarget( name: "ARCoreAugmentedFaces", - url: "https://dl.google.com/arcore/swiftpm/1.44.0/AugmentedFaces.zip", - checksum: "892d8b6b12a9e8ad47f506d1cdca019084d7aeffaefae76db570a82c0da2590c" + url: "https://dl.google.com/arcore/swiftpm/1.45.0/AugmentedFaces.zip", + checksum: "3e81d128d4aa767254cf9ad87266a5e269f0d3cf6b85e44ce094c5f50d5c5f55" ), .target( name: "AugmentedFaces", @@ -116,8 +116,8 @@ let package = Package( publicHeadersPath: "Sources" ), .binaryTarget( - name: "ARCoreSemantics", url: "https://dl.google.com/arcore/swiftpm/1.44.0/Semantics.zip", - checksum: "10375ed983993e3d65ffcdf2ee2e8f662020a9dfada59f77d2f8d044b1a01e0f" + name: "ARCoreSemantics", url: "https://dl.google.com/arcore/swiftpm/1.45.0/Semantics.zip", + checksum: "5e17cc0accfdb432aceb47f0f837343710795e9f9fe364e962ab5a28cbb17580" ), .target( name: "Semantics", @@ -132,8 +132,8 @@ let package = Package( publicHeadersPath: "Sources" ), .binaryTarget( - name: "ARCoreTFShared", url: "https://dl.google.com/arcore/swiftpm/1.44.0/TFShared.zip", - checksum: "6afb0c08777da308aeefc1d2e0811e62cbe9a464639510bf84939d62dca4d371" + name: "ARCoreTFShared", url: "https://dl.google.com/arcore/swiftpm/1.45.0/TFShared.zip", + checksum: "31c480256501d66dedb290a33ef101f2c9abdb295a03db78736619ddd640a534" ), .target( name: "TFShared",