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// Copyright 2019 Esri.
// 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 Foundation
import UIKit
import ARKit
import ArcGISToolkit
import ArcGIS
/// The health of a tree.
private enum TreeHealth: Int16, CaseIterable {
/// The tree is dead.
case dead = 0
/// The tree is distressed.
case distressed = 5
/// The tree is healthy.
case healthy = 10
/// The human readable name of the tree's health.
var title: String {
switch self {
case .dead:
return "Dead"
case .distressed:
return "Distressed"
case .healthy:
return "Healthy"
}
}
}
class CollectDataAR: UIViewController {
// UI controls and state
@IBOutlet var addBBI: UIBarButtonItem!
@IBOutlet var arView: ArcGISARView!
@IBOutlet var arKitStatusLabel: UILabel!
@IBOutlet var calibrationBBI: UIBarButtonItem!
@IBOutlet var helpLabel: UILabel!
@IBOutlet var realScaleModePicker: UISegmentedControl!
@IBOutlet var toolbar: UIToolbar!
private var calibrationViewController: CollectDataARCalibrationViewController?
private var isCalibrating = false {
didSet {
if isCalibrating {
arView.sceneView.scene?.baseSurface?.opacity = 0.5
if realScaleModePicker.selectedSegmentIndex == 1 {
helpLabel.text = "Pan the map to finish calibrating"
}
} else {
arView.sceneView.scene?.baseSurface?.opacity = 0
// Dismiss popover
if let controller = calibrationViewController {
controller.dismiss(animated: true)
}
}
}
}
// Feature service
private let featureTable = AGSServiceFeatureTable(url: URL(string: "https://services2.arcgis.com/ZQgQTuoyBrtmoGdP/arcgis/rest/services/AR_Tree_Survey/FeatureServer/0")!)
private var featureLayer: AGSFeatureLayer?
private var lastEditedFeature: AGSArcGISFeature?
// Graphics and symbology
private var featureGraphic: AGSGraphic?
private let graphicsOverlay = AGSGraphicsOverlay()
private let tappedPointSymbol = AGSSimpleMarkerSceneSymbol(style: .diamond,
color: .orange,
height: 0.5,
width: 0.5,
depth: 0.5,
anchorPosition: .center)
override func viewDidLoad() {
super.viewDidLoad()
// Create and prep the calibration view controller
calibrationViewController = CollectDataARCalibrationViewController(arcgisARView: arView)
calibrationViewController?.preferredContentSize = CGSize(width: 250, height: 100)
calibrationViewController?.useContinuousPositioning = true
// Set delegates and configure arView
arView.sceneView.touchDelegate = self
arView.arSCNView.debugOptions = .showFeaturePoints
arView.arSCNViewDelegate = self
arView.locationDataSource = AGSCLLocationDataSource()
configureSceneForAR()
// add the source code button item to the right of navigation bar
(self.navigationItem.rightBarButtonItem as! SourceCodeBarButtonItem).filenames = ["CollectDataAR"]
}
private func configureSceneForAR() {
// Create scene with imagery basemap
let scene = AGSScene(basemapStyle: .arcGISImagery)
// Create an elevation source and add it to the scene
let elevationSource = AGSArcGISTiledElevationSource(url:
URL(string: "https://elevation3d.arcgis.com/arcgis/rest/services/WorldElevation3D/Terrain3D/ImageServer")!)
scene.baseSurface?.elevationSources.append(elevationSource)
// Allow camera to go beneath the surface
scene.baseSurface?.navigationConstraint = .none
// Create a feature layer and add it to the scene
featureLayer = AGSFeatureLayer(featureTable: featureTable)
scene.operationalLayers.add(featureLayer!)
featureLayer?.sceneProperties?.surfacePlacement = .absolute
// Display the scene
arView.sceneView.scene = scene
// Create and add the graphics overlay for showing WIP new features
arView.sceneView.graphicsOverlays.add(graphicsOverlay)
graphicsOverlay.sceneProperties?.surfacePlacement = .absolute
graphicsOverlay.renderer = AGSSimpleRenderer(symbol: tappedPointSymbol)
}
// MARK: - View lifecycle management
override func viewDidAppear(_ animated: Bool) {
super.viewDidAppear(animated)
// Start AR tracking; if we're local, only use the data source to get the initial position
arView.startTracking(realScaleModePicker.selectedSegmentIndex == 1 ? .initial : .continuous)
}
override func viewDidDisappear(_ animated: Bool) {
super.viewDidDisappear(animated)
arView.stopTracking()
}
@IBAction func showCalibrationPopup(_ sender: UIBarButtonItem) {
if let controller = calibrationViewController {
if realScaleModePicker.selectedSegmentIndex == 0 { // Roaming
isCalibrating = true
} else { // Local
isCalibrating.toggle()
}
if isCalibrating {
showPopup(controller, sourceButton: sender)
} else {
helpLabel.text = "Tap to record a feature"
}
}
}
@IBAction func addFeature(_ sender: UIBarButtonItem) {
if let coreVideoBuffer = arView.arSCNView.session.currentFrame?.capturedImage {
// Get image as useful object
// NOTE: everything here assumes photo is taken in portrait layout (not landscape)
var coreImage = CIImage(cvImageBuffer: coreVideoBuffer)
let transform = coreImage.orientationTransform(for: .right)
coreImage = coreImage.transformed(by: transform)
let ciContext = CIContext()
let imageHeight = CVPixelBufferGetHeight(coreVideoBuffer)
let imageWidth = CVPixelBufferGetWidth(coreVideoBuffer)
let imageRef = ciContext.createCGImage(coreImage,
from: CGRect(x: 0, y: 0, width: imageHeight, height: imageWidth))
let rotatedImage = UIImage(cgImage: imageRef!)
askUserForTreeHealth { [weak self] (healthValue: Int16) in
self?.createFeature(wtih: rotatedImage, healthState: healthValue)
}
} else {
presentAlert(message: "Didn't get image for tap")
}
}
@IBAction func setRealScaleMode(_ sender: UISegmentedControl) {
arView.stopTracking()
if sender.selectedSegmentIndex == 0 {
// Roaming - continuous update
arView.startTracking(.continuous)
helpLabel.text = "Using CoreLocation + ARKit"
calibrationViewController?.useContinuousPositioning = true
} else {
// Local - only update once, then manually calibrate
arView.startTracking(.initial)
helpLabel.text = "Using ARKit only"
calibrationViewController?.useContinuousPositioning = false
}
// Turn off calibration when switching modes
isCalibrating = false
}
}
// MARK: - Add and identify features on tap
extension CollectDataAR: AGSGeoViewTouchDelegate {
func geoView(_ geoView: AGSGeoView, didTapAtScreenPoint screenPoint: CGPoint, mapPoint: AGSPoint) {
// Remove any existing graphics
graphicsOverlay.graphics.removeAllObjects()
// Try to get the real-world position of that tapped AR plane
if let planeLocation = arView.arScreenToLocation(screenPoint: screenPoint) {
// If a plane was found, use that
let graphic = AGSGraphic(geometry: planeLocation, symbol: nil)
graphicsOverlay.graphics.add(graphic)
addBBI.isEnabled = true
helpLabel.text = "Placed relative to ARKit plane"
} else {
presentAlert(message: "Didn't find anything. Try again.")
// No point found - disable adding the feature
addBBI.isEnabled = false
}
}
}
// MARK: - Feature management
extension CollectDataAR {
private func askUserForTreeHealth(with completion: @escaping (_ healthValue: Int16) -> Void) {
// Display an alert allowing users to select tree health
let healthStatusMenu = UIAlertController(title: "Take picture and add tree",
message: "How healthy is this tree?",
preferredStyle: .actionSheet)
TreeHealth.allCases.forEach { (treeHealth) in
let alertAction = UIAlertAction(title: treeHealth.title, style: .default) { (_) in
completion(treeHealth.rawValue)
}
healthStatusMenu.addAction(alertAction)
}
// Add "cancel" item.
let cancelAction = UIAlertAction(title: "Cancel", style: .cancel, handler: nil)
healthStatusMenu.addAction(cancelAction)
healthStatusMenu.popoverPresentationController?.barButtonItem = addBBI
self.present(healthStatusMenu, animated: true, completion: nil)
}
func applyEdits() {
featureTable.applyEdits { [weak self] (featureEditResults: [AGSFeatureEditResult]?, error: Error?) in
if let error = error {
self?.presentAlert(message: "Error while applying edits :: \(error.localizedDescription)")
} else {
if let featureEditResults = featureEditResults,
featureEditResults.first?.completedWithErrors == false {
self?.presentAlert(message: "Edits applied successfully")
}
}
}
}
private func createFeature(wtih capturedImage: UIImage, healthState healthValue: Int16) {
guard let featureGraphic = graphicsOverlay.graphics.firstObject as? AGSGraphic,
let featurePoint = featureGraphic.geometry as? AGSPoint else { return }
// Update the help label
helpLabel.text = "Adding feature"
// Create attributes for the new feature
let featureAttributes = ["Health": healthValue, "Height": 3.2, "Diameter": 1.2] as [String: Any]
if let newFeature = featureTable.createFeature(attributes: featureAttributes, geometry: featurePoint) as? AGSArcGISFeature {
lastEditedFeature = newFeature
// add the feature to the feature table
featureTable.add(newFeature) { [weak self] (error: Error?) in
guard let self = self else { return }
if let error = error {
self.presentAlert(message: "Error while adding feature: \(error.localizedDescription)")
} else {
self.featureTable.applyEdits { [weak self] (_, err) in
guard let self = self else { return }
if let error = err {
self.presentAlert(error: error)
return
}
newFeature.refresh()
if let data = capturedImage.jpegData(compressionQuality: 1) {
newFeature.addAttachment(withName: "ARCapture.jpg", contentType: "jpg", data: data) { (_, err) in
if let error = err {
self.presentAlert(error: error)
}
self.featureTable.applyEdits()
}
}
}
}
}
// enable interaction with map view
helpLabel.text = "Tap to create a feature"
graphicsOverlay.graphics.removeAllObjects()
addBBI.isEnabled = false
} else {
presentAlert(message: "Error creating feature")
}
}
}
// MARK: - Calibration view management
extension CollectDataAR {
private func showPopup(_ controller: UIViewController, sourceButton: UIBarButtonItem) {
controller.modalPresentationStyle = .popover
if let presentationController = controller.popoverPresentationController {
presentationController.delegate = self
presentationController.barButtonItem = sourceButton
presentationController.permittedArrowDirections = [.down, .up]
}
present(controller, animated: true)
}
}
extension CollectDataAR: UIPopoverPresentationControllerDelegate {
func popoverPresentationControllerDidDismissPopover(_ popoverPresentationController: UIPopoverPresentationController) {
// Detect when the popover closes and stop calibrating, but only if in roaming mode
// In local mode, the user should have an opportunity to adjust the basemap
if realScaleModePicker.selectedSegmentIndex == 0 {
isCalibrating = false
helpLabel.text = "Tap to record a feature"
}
}
}
extension CollectDataAR: UIAdaptivePresentationControllerDelegate {
func adaptivePresentationStyle(for controller: UIPresentationController, traitCollection: UITraitCollection) -> UIModalPresentationStyle {
// show presented controller as popovers even on small displays
return .none
}
}
// MARK: - Calibration view controller
class CollectDataARCalibrationViewController: UIViewController {
/// The camera controller used to adjust user interactions.
private let arcgisARView: ArcGISARView
/// The `UISlider` used to adjust elevation.
private let elevationSlider: UISlider = {
let slider = UISlider(frame: .zero)
slider.minimumValue = -50.0
slider.maximumValue = 50.0
slider.isEnabled = false
return slider
}()
/// The UISlider used to adjust heading.
private let headingSlider: UISlider = {
let slider = UISlider(frame: .zero)
slider.minimumValue = -10.0
slider.maximumValue = 10.0
return slider
}()
/// Determines whether continuous positioning is in use
/// Showing the elevation slider is only appropriate when using local positioning
var useContinuousPositioning = true {
didSet {
if useContinuousPositioning {
elevationSlider.isEnabled = false
elevationSlider.removeTarget(self, action: #selector(elevationChanged(_:)), for: .valueChanged)
elevationSlider.removeTarget(self, action: #selector(touchUpElevation(_:)), for: [.touchUpInside, .touchUpOutside])
} else {
elevationSlider.isEnabled = true
// Set up events for the heading slider
elevationSlider.addTarget(self, action: #selector(elevationChanged(_:)), for: .valueChanged)
elevationSlider.addTarget(self, action: #selector(touchUpElevation(_:)), for: [.touchUpInside, .touchUpOutside])
}
}
}
/// The elevation delta amount based on the elevation slider value.
private var joystickElevation: Double {
let deltaElevation = Double(elevationSlider.value)
return pow(deltaElevation, 2) / 50.0 * (deltaElevation < 0 ? -1.0 : 1.0)
}
/// The heading delta amount based on the heading slider value.
private var joystickHeading: Double {
let deltaHeading = Double(headingSlider.value)
return pow(deltaHeading, 2) / 25.0 * (deltaHeading < 0 ? -1.0 : 1.0)
}
/// Initialized a new calibration view with the given scene view and camera controller.
///
/// - Parameters:
/// - arcgisARView: The ArcGISARView we are calibrating..
init(arcgisARView: ArcGISARView) {
self.arcgisARView = arcgisARView
super.init(nibName: nil, bundle: nil)
// Add the heading label and slider.
let headingLabel = UILabel(frame: .zero)
headingLabel.text = "Heading:"
headingLabel.textColor = .yellow
view.addSubview(headingLabel)
headingLabel.translatesAutoresizingMaskIntoConstraints = false
NSLayoutConstraint.activate([
headingLabel.leadingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.leadingAnchor, constant: 16),
headingLabel.bottomAnchor.constraint(equalTo: view.safeAreaLayoutGuide.bottomAnchor, constant: -16)
])
view.addSubview(headingSlider)
headingSlider.translatesAutoresizingMaskIntoConstraints = false
NSLayoutConstraint.activate([
headingSlider.leadingAnchor.constraint(equalTo: headingLabel.trailingAnchor, constant: 16),
headingSlider.trailingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.trailingAnchor, constant: -16),
headingSlider.centerYAnchor.constraint(equalTo: headingLabel.centerYAnchor)
])
// Add the elevation label and slider.
let elevationLabel = UILabel(frame: .zero)
elevationLabel.text = "Elevation:"
elevationLabel.textColor = .yellow
view.addSubview(elevationLabel)
elevationLabel.translatesAutoresizingMaskIntoConstraints = false
NSLayoutConstraint.activate([
elevationLabel.leadingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.leadingAnchor, constant: 16),
elevationLabel.bottomAnchor.constraint(equalTo: headingLabel.topAnchor, constant: -24)
])
view.addSubview(elevationSlider)
elevationSlider.translatesAutoresizingMaskIntoConstraints = false
NSLayoutConstraint.activate([
elevationSlider.leadingAnchor.constraint(equalTo: elevationLabel.trailingAnchor, constant: 16),
elevationSlider.trailingAnchor.constraint(equalTo: view.safeAreaLayoutGuide.trailingAnchor, constant: -16),
elevationSlider.centerYAnchor.constraint(equalTo: elevationLabel.centerYAnchor)
])
// Setup actions for the two sliders. The sliders operate as "joysticks",
// where moving the slider thumb will start a timer
// which roates or elevates the current camera when the timer fires. The elevation and heading delta
// values increase the further you move away from center. Moving and holding the thumb a little bit from center
// will roate/elevate just a little bit, but get progressively more the further from center the thumb is moved.
headingSlider.addTarget(self, action: #selector(headingChanged(_:)), for: .touchDown)
headingSlider.addTarget(self, action: #selector(touchUpHeading(_:)), for: [.touchUpInside, .touchUpOutside, .touchCancel])
}
required init?(coder aDecoder: NSCoder) {
fatalError("init(coder:) has not been implemented")
}
// The timers for the "joystick" behavior.
private var elevationTimer: Timer?
private var headingTimer: Timer?
/// Handle an elevation slider value-changed event.
///
/// - Parameter sender: The slider tapped on.
@objc
func elevationChanged(_ sender: UISlider) {
if elevationTimer == nil {
// Create a timer which elevates the camera when fired.
let timer = Timer(timeInterval: 0.25, repeats: true) { [weak self] (_) in
let delta = self?.joystickElevation ?? 0.0
self?.elevate(delta)
}
// Add the timer to the main run loop.
RunLoop.main.add(timer, forMode: .default)
elevationTimer = timer
}
}
/// Handle an heading slider value-changed event.
///
/// - Parameter sender: The slider tapped on.
@objc
func headingChanged(_ sender: UISlider) {
if headingTimer == nil {
// Create a timer which rotates the camera when fired.
let timer = Timer(timeInterval: 0.1, repeats: true) { [weak self] (_) in
let delta = self?.joystickHeading ?? 0.0
self?.rotate(delta)
}
// Add the timer to the main run loop.
RunLoop.main.add(timer, forMode: .default)
headingTimer = timer
}
}
/// Handle an elevation slider touchUp event. This will stop the timer.
///
/// - Parameter sender: The slider tapped on.
@objc
func touchUpElevation(_ sender: UISlider) {
elevationTimer?.invalidate()
elevationTimer = nil
sender.value = 0.0
}
/// Handle a heading slider touchUp event. This will stop the timer.
///
/// - Parameter sender: The slider tapped on.
@objc
func touchUpHeading(_ sender: UISlider) {
headingTimer?.invalidate()
headingTimer = nil
sender.value = 0.0
}
/// Rotates the camera by `deltaHeading`.
///
/// - Parameter deltaHeading: The amount to rotate the camera.
private func rotate(_ deltaHeading: Double) {
let camera = arcgisARView.originCamera
let newHeading = camera.heading + deltaHeading
arcgisARView.originCamera = camera.rotate(toHeading: newHeading, pitch: camera.pitch, roll: camera.roll)
}
/// Change the cameras altitude by `deltaAltitude`.
///
/// - Parameter deltaAltitude: The amount to elevate the camera.
private func elevate(_ deltaAltitude: Double) {
let camera = arcgisARView.originCamera
arcgisARView.originCamera = camera.elevate(withDeltaAltitude: deltaAltitude)
}
}
// MARK: - tracking status display
extension CollectDataAR: ARSCNViewDelegate {
public func session(_ session: ARSession, cameraDidChangeTrackingState camera: ARCamera) {
// Don't show anything in roaming mode; constant location tracking reset means
// ARKit will always be initializing
if realScaleModePicker.selectedSegmentIndex == 0 {
arKitStatusLabel.isHidden = true
return
}
switch camera.trackingState {
case .normal:
arKitStatusLabel.isHidden = true
case .notAvailable:
arKitStatusLabel.text = "ARKit location not available"
arKitStatusLabel.isHidden = false
case .limited(let reason):
arKitStatusLabel.isHidden = false
switch reason {
case .excessiveMotion:
arKitStatusLabel.text = "Try moving your phone more slowly"
arKitStatusLabel.isHidden = false
case .initializing:
arKitStatusLabel.text = "Keep moving your phone"
arKitStatusLabel.isHidden = false
case .insufficientFeatures:
arKitStatusLabel.text = "Try turning on more lights and moving around"
arKitStatusLabel.isHidden = false
case .relocalizing:
// this won't happen as this sample doesn't use relocalization
break
@unknown default:
break
}
}
}
}