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Google.XR.ARCoreExtensions.ARAnchorManagerExtensions

Extensions to AR Foundation's ARAnchorManager class.

Summary

Public static functions

AddAnchor(this ARAnchorManager anchorManager, double latitude, double longitude, double altitude, Quaternion eunRotation)
Creates a new anchor at the specified geospatial location and orientation relative to the Earth.
AddCloudReferencePoint(this ARAnchorManager referencePointManager, ARAnchor referencePoint) Deprecated. Please use HostCloudAnchor(ARAnchor) instead.
Creates a new cloud reference point using an existing local Reference Point.
EstimateFeatureMapQualityForHosting(this ARAnchorManager anchorManager, Pose pose)
Estimates the quality of the visual feature points seen by ARCore in the preceding few seconds and visible from the provided camera pose .
HostCloudAnchor(this ARAnchorManager anchorManager, ARAnchor anchor)
Creates a new Cloud Anchor using an existing local ARAnchor.
HostCloudAnchor(this ARAnchorManager anchorManager, ARAnchor anchor, int ttlDays)
Creates a new Cloud Anchor with a given lifetime using an existing local ARAnchor.
ResolveAnchorOnTerrain(this ARAnchorManager anchorManager, double latitude, double longitude, double altitudeAboveTerrain, Quaternion eunRotation)
Creates a ARGeospatialAnchor at a specified horizontal position and altitude relative to the horizontal position's terrain.
ResolveCloudAnchorId(this ARAnchorManager anchorManager, string cloudAnchorId)
Creates a new local Cloud Anchor from the provided Id.
ResolveCloudReferenceId(this ARAnchorManager referencePointManager, string cloudReferenceId) Deprecated. Please use ResolveCloudAnchorId(string) instead.
Creates a new local cloud reference point from the provided Id.
SetAuthToken(this ARAnchorManager anchorManager, string authToken)
void
Set the token to use when authenticating with the ARCore Cloud Anchor service on the iOS platform.

Public static functions

AddAnchor

ARGeospatialAnchor AddAnchor(
  this ARAnchorManager anchorManager,
  double latitude,
  double longitude,
  double altitude,
  Quaternion eunRotation
)

Creates a new anchor at the specified geospatial location and orientation relative to the Earth.

Latitude and longitude are defined by the WGS84 specification, and altitude values are defined by the elevation above the WGS84 ellipsoid. To create an anchor using an altitude relative to the Earth's terrain instead of altitude above the WGS84 ellipsoid, use ResolveAnchorOnTerrain(ARAnchorManager, double, double, double, Quaternion). Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1 degrees of the north pole or south pole (90 degrees or -90 degrees), this function will return null.

The rotation provided by eunRotation is a rotation with respect to an east-up-north coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the north.

To create a quaternion that represents a clockwise angle theta from north around the +Y anchor frame axis, use the following formula: Quaternion.AngleAxis(180f - theta, Vector3.up);

An anchor's tracking state will be TrackingState.None while AREarthManager.EarthTrackingState is TrackingState.None. The tracking state will permanently become TrackingState.None if the configuration is set to GeospatialMode.Disabled.

Details
Parameters
anchorManager
The ARAnchorManager instance.
latitude
The latitude of the anchor relative to the WGS84 ellipsoid.
longitude
The longitude of the anchor relative to the WGS84 ellipsoid.
altitude
The altitude of the anchor relative to the WGS84 ellipsoid.
eunRotation
The rotation of the anchor with respect to the east-up-north coordinate frame where X+ points east, Y+ points up away from gravity, and Z+ points north. A rotation about the Y+ axis creates a rotation counterclockwise from north.
Returns
If successful, a ARGeospatialAnchor, otherwise, null.

AddCloudReferencePoint

ARCloudReferencePoint AddCloudReferencePoint(
  this ARAnchorManager referencePointManager,
  ARAnchor referencePoint
)

Creates a new cloud reference point using an existing local Reference Point.

Deprecated. Please use HostCloudAnchor(ARAnchor) instead.

Details
Parameters
referencePointManager
The ARAnchorManager instance.
referencePoint
The local ARAnchor to be used as the basis to host a new cloud reference point.
Returns
If successful, a ARCloudReferencePoint, otherwise null.

EstimateFeatureMapQualityForHosting

FeatureMapQuality EstimateFeatureMapQualityForHosting(
  this ARAnchorManager anchorManager,
  Pose pose
)

Estimates the quality of the visual feature points seen by ARCore in the preceding few seconds and visible from the provided camera pose .

Cloud Anchors hosted using higher feature map quality will generally result in easier and more accurately resolved ARCloudAnchor poses. If feature map quality cannot be estimated for the given pose , a warning message "Failed to estimate feature map quality" with the error status is logged and FeatureMapQuality.Insufficient is returned.

Details
Parameters
anchorManager
The ARAnchorManager instance.
pose
The camera pose to use in estimating the quality.
Returns
The estimated feature map quality.

HostCloudAnchor

ARCloudAnchor HostCloudAnchor(
  this ARAnchorManager anchorManager,
  ARAnchor anchor
)

Creates a new Cloud Anchor using an existing local ARAnchor.

The sample code below illustrates how to host a Cloud Anchor.

private ARCloudAnchor _cloudAnchor;
void HostCloudAnchor(Pose pose)
{
    // Create a local anchor, you may also use another ARAnchor you already have.
    ARAnchor localAnchor = AnchorManager.AddAnchor(pose);
    // Request the Cloud Anchor.
    _cloudAnchor = AnchorManager.HostCloudAnchor(localAnchor);
}
void Update()
{
    if (_cloudAnchor)
    {
        // Check the Cloud Anchor state.
        CloudAnchorState cloudAnchorState = _cloudAnchor.cloudAnchorState;
        if (cloudAnchorState == CloudAnchorState.Success)
        {
            myOtherGameObject.transform.SetParent(_cloudAnchor.transform, false);
            _cloudAnchor = null;
        }
        else if (cloudAnchorState == CloudAnchorState.TaskInProgress)
        {
            // Wait, not ready yet.
        }
        else
        {
            // An error has occurred.
        }
    }
}

Details
Parameters
anchorManager
The ARAnchorManager instance.
anchor
The local ARAnchor to be used as the basis to host a new Cloud Anchor.
Returns
If successful, a ARCloudAnchor, otherwise null.

HostCloudAnchor

ARCloudAnchor HostCloudAnchor(
  this ARAnchorManager anchorManager,
  ARAnchor anchor,
  int ttlDays
)

Creates a new Cloud Anchor with a given lifetime using an existing local ARAnchor.

Details
Parameters
anchorManager
The ARAnchorManager instance.
anchor
The local ARAnchor to be used as the basis to host a new Cloud Anchor.
ttlDays
The lifetime of the anchor in days. Must be positive. The maximum allowed value is 1 if using an API Key to authenticate with the ARCore Cloud Anchor service, otherwise the maximum allowed value is 365.
Returns
If successful, an ARCloudAnchor, otherwise null.

ResolveAnchorOnTerrain

ARGeospatialAnchor ResolveAnchorOnTerrain(
  this ARAnchorManager anchorManager,
  double latitude,
  double longitude,
  double altitudeAboveTerrain,
  Quaternion eunRotation
)

Creates a ARGeospatialAnchor at a specified horizontal position and altitude relative to the horizontal position's terrain.

Terrain means the ground or ground floor inside a building with VPS coverage. If the altitude relative to the WGS84 ellipsoid is known, use ARAnchorManagerExtensions.AddAnchor( ARAnchorManager, double, double, double, Quaternion) instead.

The specified altitudeAboveTerrain is interpreted to be relative to the Earth's terrain (or floor) at the specified latitude/longitude geospatial coordinates, rather than relative to the WGS84 ellipsoid. Specifying an altitude of 0 will position the anchor directly on the terrain (or floor) whereas specifying a positive altitude will position the anchor above the terrain (or floor), against the direction of gravity.

This creates a new ARGeospatialAnchor and schedules a task to resolve the anchor's pose using the given parameters. You may resolve multiple anchors at a time, but a session cannot be tracking more than 100 Terrain anchors at time.

The returned Terrain anchor will have its ARGeospatialAnchor.terrainAnchorState set to TerrainAnchorState.TaskInProgress, and its ARGeospatialAnchor.trackingState set to TrackingState.None. The anchor will remain in this state until its pose has been successfully resolved. If the resolving task results in an error, the anchor's ARGeospatialAnchor.terrainAnchorState will detail error information.

Creating a Terrain anchor requires AREarthManager.EarthState to be EarthState.Enabled, and AREarthManager.EarthTrackingState to be Tracking. If it is not, then this function returns null. This call also requires a working internet. connection to communicate with the ARCore API on Google Cloud. ARCore will continue to retry if it is unable to establish a connection to the ARCore service.

Latitude and longitude are defined by the WGS84 specification. Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1 degrees of the north pole or south pole (90 degrees or -90 degrees), this function will return null.

The rotation provided by eunRotation is a rotation with respect to an east-up-north coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the north.

To create a quaternion that represents a clockwise angle theta from north around the +Y anchor frame axis, use the following formula: Quaternion.AngleAxis(180f - theta, Vector3.up);

An anchor's tracking state will be TrackingState.None while AREarthManager.EarthTrackingState is TrackingState.None. The tracking state will permanently become TrackingState.None if the configuration is set to GeospatialMode.Disabled.

Details
Parameters
anchorManager
The ARAnchorManager instance.
latitude
The latitude of the anchor relative to the WGS84 ellipsoid.
longitude
The longitude of the anchor relative to the WGS84 ellipsoid.
altitudeAboveTerrain
The altitude of the anchor above the Earth's terrain (or floor).
eunRotation
The rotation of the anchor with respect to the east-up-north coordinate frame where X+ points east, Y+ points up away from gravity, and Z+ points north. A rotation about the Y+ axis creates a rotation counterclockwise from north.
Returns
If successful, a ARGeospatialAnchor, otherwise, null.

ResolveCloudAnchorId

ARCloudAnchor ResolveCloudAnchorId(
  this ARAnchorManager anchorManager,
  string cloudAnchorId
)

Creates a new local Cloud Anchor from the provided Id.

A session can be resolving up to 40 Cloud Anchors at a given time. If resolving fails, the anchor will be automatically removed from the session.

The sample code below illustrates how to resolve a Cloud Anchor.

private ARCloudAnchor _cloudAnchor;
void ResolveCloudAnchor(string cloudAnchorId)
{
    // Request the Cloud Anchor.
    _cloudAnchor = AnchorManager.ResolveCloudAnchorId(cloudAnchorId);
}
void Update()
{
    if (_cloudAnchor)
    {
        // Check the Cloud Anchor state.
        CloudAnchorState cloudAnchorState = _cloudAnchor.cloudAnchorState;
        if (cloudAnchorState == CloudAnchorState.Success)
        {
            myOtherGameObject.transform.SetParent(_cloudAnchor.transform, false);
            _cloudAnchor = null;
        }
        else if (cloudAnchorState == CloudAnchorState.TaskInProgress)
        {
            // Wait, not ready yet.
        }
        else
        {
            // An error has occurred.
        }
    }
}

Details
Parameters
anchorManager
The ARAnchorManager instance.
cloudAnchorId
String representing the Cloud Anchor.
Returns
If successful, a ARCloudAnchor, otherwise null.

ResolveCloudReferenceId

ARCloudReferencePoint ResolveCloudReferenceId(
  this ARAnchorManager referencePointManager,
  string cloudReferenceId
)

Creates a new local cloud reference point from the provided Id.

Deprecated. Please use ResolveCloudAnchorId(string) instead.

Details
Parameters
referencePointManager
The ARAnchorManager instance.
cloudReferenceId
String representing the cloud reference.
Returns
If successful, a ARCloudReferencePoint, otherwise null.

SetAuthToken

void SetAuthToken(
  this ARAnchorManager anchorManager,
  string authToken
)

Set the token to use when authenticating with the ARCore Cloud Anchor service on the iOS platform.

This should be called each time the application's token is refreshed.

Details
Parameters
anchorManager
The ARAnchorManager instance.
authToken
The authentication token to set.