Add support to calculate distance between device and anchor and distance between two anchors

README.md

@@ -16,10 +16,11 @@ flutter pub add ar_flutter_plugin
 ```
 
 Or manually add this to your `pubspec.yaml` file (and run `flutter pub get`):
+# ar_flutter_plugin package extension
 
 ```yaml
 dependencies:
-  ar_flutter_plugin: ^0.6.4
+  ar_flutter_plugin: ^0.6.5
 ```
 
 ### Importing
@@ -92,3 +93,4 @@ Contributions to this plugin are very welcome. To contribute code and discuss id
 This is a rough sketch of the architecture the plugin implements:
 
 ![ar_plugin_architecture](./AR_Plugin_Architecture_highlevel.svg)
+

android/src/main/kotlin/io/carius/lars/ar_flutter_plugin/AndroidARView.kt

@@ -21,6 +21,7 @@ import com.google.ar.sceneform.ux.*
 import io.carius.lars.ar_flutter_plugin.Serialization.deserializeMatrix4
 import io.carius.lars.ar_flutter_plugin.Serialization.serializeAnchor
 import io.carius.lars.ar_flutter_plugin.Serialization.serializeHitResult
+import io.carius.lars.ar_flutter_plugin.Serialization.serializePose
 import io.flutter.FlutterInjector
 import io.flutter.embedding.engine.loader.FlutterLoader
 import io.flutter.plugin.common.BinaryMessenger
@@ -99,6 +100,22 @@ internal class AndroidARView(
                         "init" -> {
                             initializeARView(call, result)
                         }
+                        "getAnchorPose" -> {
+                            val anchorNode = arSceneView.scene.findByName(call.argument("anchorId")) as AnchorNode?
+                            if (anchorNode != null) {
+                                result.success(serializePose(anchorNode.anchor!!.pose))
+                            } else {
+                                result.error("Error", "could not get anchor pose", null)
+                            }
+                        }
+                        "getCameraPose" -> {
+                            val cameraPose = arSceneView.arFrame?.camera?.displayOrientedPose
+                            if (cameraPose != null) {
+                                result.success(serializePose(cameraPose!!))
+                            } else {
+                                result.error("Error", "could not get camera pose", null)
+                            }
+                        }
                         "snapshot" -> {
                             var bitmap = Bitmap.createBitmap(arSceneView.width, arSceneView.height,
                                     Bitmap.Config.ARGB_8888);

example/ios/Runner.xcodeproj/project.pbxproj

@@ -166,7 +166,7 @@
 		97C146E61CF9000F007C117D /* Project object */ = {
 			isa = PBXProject;
 			attributes = {
-				LastUpgradeCheck = 1020;
+				LastUpgradeCheck = 1300;
 				ORGANIZATIONNAME = "";
 				TargetAttributes = {
 					97C146ED1CF9000F007C117D = {

example/ios/Runner.xcodeproj/xcshareddata/xcschemes/Runner.xcscheme

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Scheme
-   LastUpgradeVersion = "1020"
+   LastUpgradeVersion = "1300"
    version = "1.3">
    <BuildAction
       parallelizeBuildables = "YES"

example/ios/Runner/Info.plist

@@ -47,5 +47,7 @@
 	<string>This app needs access to location when open.</string>
 	<key>NSLocationAlwaysUsageDescription</key>
 	<string>This app needs access to location when in the background.</string>
+	<key>CADisableMinimumFrameDurationOnPhone</key>
+	<true/>
 </dict>
 </plist>

ios/Classes/IosARView.swift

@@ -81,6 +81,20 @@ class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureReco
                 //result(nil)
                 initializeARView(arguments: arguments!, result: result)
                 break
+            case "getCameraPose":
+                if let cameraPose = sceneView.session.currentFrame?.camera.transform {
+                    result(serializeMatrix(cameraPose))
+                } else {
+                    result(FlutterError())
+                }
+                break
+            case "getAnchorPose":
+            if let cameraPose = anchorCollection[arguments?["anchorId"] as! String]?.transform {
+                    result(serializeMatrix(cameraPose))
+                } else {
+                    result(FlutterError())
+                }
+                break
             case "snapshot":
                 // call the SCNView Snapshot method and return the Image
                 let snapshotImage = sceneView.snapshot()

ios/ar_flutter_plugin.podspec

@@ -20,7 +20,7 @@ A Flutter plugin for shared AR experiences supporting Android and iOS.
   s.static_framework = true
   #s.dependency 'ARCore/CloudAnchors', '~> 1.12.0'
   #s.dependency 'ARCore', '~> 1.2.0'
-  s.dependency 'ARCore/CloudAnchors', '~> 1.26.0'
+  s.dependency 'ARCore/CloudAnchors', '~> 1.32.0'
   s.platform = :ios, '13.0'
 
 

lib/managers/ar_location_manager.dart

@@ -78,7 +78,7 @@ class ARLocationManager {
     // When we reach here, permissions are granted and we can
     // continue accessing the position of the device.
     locationStream =
-        Geolocator.getPositionStream(desiredAccuracy: LocationAccuracy.high)
+        Geolocator.getPositionStream(locationSettings: LocationSettings(accuracy: LocationAccuracy.high))
             .listen((Position position) {
       //print(position.latitude.toString() + ', ' + position.longitude.toString());
       currentLocation = position;

lib/managers/ar_session_manager.dart

@@ -1,8 +1,13 @@
+import 'dart:math' show sqrt;
 import 'dart:typed_data';
+
+import 'package:ar_flutter_plugin/datatypes/config_planedetection.dart';
+import 'package:ar_flutter_plugin/models/ar_anchor.dart';
 import 'package:ar_flutter_plugin/models/ar_hittest_result.dart';
+import 'package:ar_flutter_plugin/utils/json_converters.dart';
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
-import 'package:ar_flutter_plugin/datatypes/config_planedetection.dart';
+import 'package:vector_math/vector_math_64.dart';
 
 // Type definitions to enforce a consistent use of the API
 typedef ARHitResultHandler = void Function(List<ARHitTestResult> hits);
@@ -24,15 +29,76 @@ class ARSessionManager {
   /// Receives hit results from user taps with tracked planes or feature points
   late ARHitResultHandler onPlaneOrPointTap;
 
-  ARSessionManager(int id, this.buildContext, this.planeDetectionConfig,
-      {this.debug = false}) {
+  ARSessionManager(int id, this.buildContext, this.planeDetectionConfig, {this.debug = false}) {
     _channel = MethodChannel('arsession_$id');
     _channel.setMethodCallHandler(_platformCallHandler);
     if (debug) {
       print("ARSessionManager initialized");
     }
   }
 
+  /// Returns the camera pose in Matrix4 format with respect to the world coordinate system of the [ARView]
+  Future<Matrix4?> getCameraPose() async {
+    try {
+      final serializedCameraPose = await _channel.invokeMethod<List<dynamic>>('getCameraPose', {});
+      return MatrixConverter().fromJson(serializedCameraPose!);
+    } catch (e) {
+      print('Error caught: ' + e.toString());
+      return null;
+    }
+  }
+
+  /// Returns the given anchor pose in Matrix4 format with respect to the world coordinate system of the [ARView]
+  Future<Matrix4?> getPose(ARAnchor anchor) async {
+    try {
+      if (anchor.name.isEmpty) {
+        throw Exception("Anchor can not be resolved. Anchor name is empty.");
+      }
+      final serializedCameraPose = await _channel.invokeMethod<List<dynamic>>('getAnchorPose', {
+        "anchorId": anchor.name,
+      });
+      return MatrixConverter().fromJson(serializedCameraPose!);
+    } catch (e) {
+      print('Error caught: ' + e.toString());
+      return null;
+    }
+  }
+
+  /// Returns the distance in meters between @anchor1 and @anchor2.
+  Future<double?> getDistanceBetweenAnchors(ARAnchor anchor1, ARAnchor anchor2) async {
+    var anchor1Pose = await getPose(anchor1);
+    var anchor2Pose = await getPose(anchor2);
+    var anchor1Translation = anchor1Pose?.getTranslation();
+    var anchor2Translation = anchor2Pose?.getTranslation();
+    if (anchor1Translation != null && anchor2Translation != null) {
+      return getDistanceBetweenVectors(anchor1Translation, anchor2Translation);
+    } else {
+      return null;
+    }
+  }
+
+  /// Returns the distance in meters between @anchor and device's camera.
+  Future<double?> getDistanceFromAnchor(ARAnchor anchor) async {
+    Matrix4? cameraPose = await getCameraPose();
+    Matrix4? anchorPose = await getPose(anchor);
+    Vector3? cameraTranslation = cameraPose?.getTranslation();
+    Vector3? anchorTranslation = anchorPose?.getTranslation();
+    if (anchorTranslation != null && cameraTranslation != null) {
+      return getDistanceBetweenVectors(anchorTranslation, cameraTranslation);
+    } else {
+      return null;
+    }
+  }
+
+  /// Returns the distance in meters between @vector1 and @vector2.
+  double getDistanceBetweenVectors(Vector3 vector1, Vector3 vector2) {
+    num dx = vector1.x - vector2.x;
+    num dy = vector1.y - vector2.y;
+    num dz = vector1.z - vector2.z;
+    double distance = sqrt(dx * dx + dy * dy + dz * dz);
+    return distance;
+  }
+
   Future<void> _platformCallHandler(MethodCall call) {
     if (debug) {
       print('_platformCallHandler call ${call.method} ${call.arguments}');
@@ -48,10 +114,7 @@ class ARSessionManager {
         case 'onPlaneOrPointTap':
           if (onPlaneOrPointTap != null) {
             final rawHitTestResults = call.arguments as List<dynamic>;
-            final serializedHitTestResults = rawHitTestResults
-                .map(
-                    (hitTestResult) => Map<String, dynamic>.from(hitTestResult))
-                .toList();
+            final serializedHitTestResults = rawHitTestResults.map((hitTestResult) => Map<String, dynamic>.from(hitTestResult)).toList();
             final hitTestResults = serializedHitTestResults.map((e) {
               return ARHitTestResult.fromJson(e);
             }).toList();
@@ -101,11 +164,7 @@ class ARSessionManager {
   /// Displays the [errorMessage] in a snackbar of the parent widget
   onError(String errorMessage) {
     ScaffoldMessenger.of(buildContext).showSnackBar(SnackBar(
-        content: Text(errorMessage),
-        action: SnackBarAction(
-            label: 'HIDE',
-            onPressed:
-                ScaffoldMessenger.of(buildContext).hideCurrentSnackBar)));
+        content: Text(errorMessage), action: SnackBarAction(label: 'HIDE', onPressed: ScaffoldMessenger.of(buildContext).hideCurrentSnackBar)));
   }
 
   /// Dispose the AR view on the platforms to pause the scenes and disconnect the platform handlers.

pubspec.yaml

@@ -1,6 +1,6 @@
 name: ar_flutter_plugin
 description: Flutter Plugin for creating (collaborative) Augmented Reality experiences - Supports ARKit for iOS and ARCore for Android devices.
-version: 0.6.4
+version: 0.6.5
 homepage: https://lars.carius.io
 repository: https://github.com/CariusLars/ar_flutter_plugin
 
@@ -11,10 +11,10 @@ environment:
 dependencies:
   flutter:
     sdk: flutter
-  permission_handler: ^8.1.6
-  vector_math: ^2.1.0
-  json_annotation: ^4.0.1
-  geolocator: ^7.6.2
+  permission_handler: ^10.0.0
+  vector_math: ^2.1.2
+  json_annotation: ^4.5.0
+  geolocator: ^9.0.0
 
 dev_dependencies:
   flutter_test: