Geospatial Support & ARCore Dependency Update

android/build.gradle

@@ -2,7 +2,7 @@ group 'io.carius.lars.ar_flutter_plugin'
 version '1.0-SNAPSHOT'
 
 buildscript {
-    ext.kotlin_version = '1.3.50'
+    ext.kotlin_version = '1.5.20'
     repositories {
         google()
         jcenter()
@@ -25,19 +25,28 @@ apply plugin: 'com.android.library'
 apply plugin: 'kotlin-android'
 
 android {
-    compileSdkVersion 30
+    namespace 'io.carius.lars.ar_flutter_plugin'
+    compileSdkVersion 34
 
     sourceSets {
         main.java.srcDirs += 'src/main/kotlin'
     }
+    compileOptions {
+        sourceCompatibility = JavaVersion.VERSION_1_8
+        targetCompatibility = JavaVersion.VERSION_1_8
+    }
+
+    kotlinOptions {
+        jvmTarget = JavaVersion.VERSION_1_8
+    }
     defaultConfig {
         minSdkVersion 24
     }
 }
 
 dependencies {
     implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
-    implementation "com.google.ar:core:1.22.0"
+    implementation "com.google.ar:core:1.47.0"
 
     implementation 'com.google.ar.sceneform:core:1.15.0'
     implementation 'com.google.ar.sceneform:assets:1.15.0'

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

@@ -146,6 +146,14 @@ internal class AndroidARView(
                                 handlerThread.quitSafely();
                             }, Handler(handlerThread.looper));
                         }
+                        "enableGeospatialMode" -> {
+                            if(arSceneView.session?.isGeospatialModeSupported(Config.GeospatialMode.ENABLED) == true) {
+                                val config = arSceneView.session?.config
+                                config?.setGeospatialMode(Config.GeospatialMode.ENABLED)
+                                arSceneView.session?.configure(config)
+                            }
+
+                        }
                         "dispose" -> {
                             dispose()
                         }
@@ -657,7 +665,23 @@ internal class AndroidARView(
             //unselect all nodes as we do not want the selection visualizer
             transformationSystem.selectNode(null)
         }
-
+        if(arSceneView.session?.config?.geospatialMode == Config.GeospatialMode.ENABLED) {
+            val session = arSceneView.session;
+            val earth = session?.earth
+            if (earth?.trackingState == TrackingState.TRACKING) {
+                val cameraGeospatialPose = earth.cameraGeospatialPose
+                val map: HashMap<String, Any> = HashMap<String, Any>()
+                map["latitude"] = cameraGeospatialPose.latitude
+                map["longitude"] = cameraGeospatialPose.longitude
+                map["altitude"] = cameraGeospatialPose.altitude
+                map["eastUpSouthQuaternion"] = cameraGeospatialPose.eastUpSouthQuaternion
+                map["horizontalAccuracy"] = cameraGeospatialPose.horizontalAccuracy
+                map["orientationYawAccuracy"] = cameraGeospatialPose.orientationYawAccuracy
+                map["verticalAccuracy"] = cameraGeospatialPose.verticalAccuracy
+
+                sessionManagerChannel.invokeMethod("onCameraGeospatialPoseDetected", map)
+            }
+        }
     }
 
     private fun addNode(dict_node: HashMap<String, Any>, dict_anchor: HashMap<String, Any>? = null): CompletableFuture<Boolean>{

example/android/build.gradle

@@ -1,5 +1,5 @@
 buildscript {
-    ext.kotlin_version = '1.6.10'
+    ext.kotlin_version = '1.7.0'
     repositories {
         google()
         jcenter()
@@ -27,6 +27,6 @@ subprojects {
     project.evaluationDependsOn(':app')
 }
 
-task clean(type: Delete) {
+tasks.register("clean", Delete) {
     delete rootProject.buildDir
 }

example/ios/Podfile

@@ -1,5 +1,5 @@
 # Uncomment this line to define a global platform for your project
-# platform :ios, '9.0'
+# platform :ios, '12.0'
 
 # Override firebase SDK version for compatibility reasons
 $FirebaseSDKVersion = '8.7.0'

example/ios/Runner.xcodeproj/project.pbxproj

@@ -3,7 +3,7 @@
 	archiveVersion = 1;
 	classes = {
 	};
-	objectVersion = 51;
+	objectVersion = 54;
 	objects = {
 
 /* Begin PBXBuildFile section */
@@ -166,7 +166,7 @@
 		97C146E61CF9000F007C117D /* Project object */ = {
 			isa = PBXProject;
 			attributes = {
-				LastUpgradeCheck = 1300;
+				LastUpgradeCheck = 1510;
 				ORGANIZATIONNAME = "";
 				TargetAttributes = {
 					97C146ED1CF9000F007C117D = {
@@ -212,10 +212,12 @@
 /* Begin PBXShellScriptBuildPhase section */
 		3B06AD1E1E4923F5004D2608 /* Thin Binary */ = {
 			isa = PBXShellScriptBuildPhase;
+			alwaysOutOfDate = 1;
 			buildActionMask = 2147483647;
 			files = (
 			);
 			inputPaths = (
+				"${TARGET_BUILD_DIR}/${INFOPLIST_PATH}",
 			);
 			name = "Thin Binary";
 			outputPaths = (
@@ -243,6 +245,7 @@
 		};
 		9740EEB61CF901F6004384FC /* Run Script */ = {
 			isa = PBXShellScriptBuildPhase;
+			alwaysOutOfDate = 1;
 			buildActionMask = 2147483647;
 			files = (
 			);

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

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <Scheme
-   LastUpgradeVersion = "1300"
+   LastUpgradeVersion = "1510"
    version = "1.3">
    <BuildAction
       parallelizeBuildables = "YES"

example/ios/Runner/AppDelegate.swift

@@ -1,7 +1,7 @@
 import UIKit
 import Flutter
 
-@UIApplicationMain
+@main
 @objc class AppDelegate: FlutterAppDelegate {
   override func application(
     _ application: UIApplication,

example/ios/Runner/Info.plist

@@ -49,5 +49,7 @@
 	<string>This app needs access to location when in the background.</string>
 	<key>CADisableMinimumFrameDurationOnPhone</key>
 	<true/>
+	<key>UIApplicationSupportsIndirectInputEvents</key>
+	<true/>
 </dict>
 </plist>

ios/Classes/IosARView.swift

@@ -4,6 +4,7 @@ import Foundation
 import ARKit
 import Combine
 import ARCoreCloudAnchors
+import ARCoreGeospatial
 
 class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureRecognizerDelegate, ARSessionDelegate {
     let sceneView: ARSCNView
@@ -74,7 +75,8 @@ class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureReco
 
     func onSessionMethodCalled(_ call :FlutterMethodCall, _ result:FlutterResult) {
         let arguments = call.arguments as? Dictionary<String, Any>
-
+
+
         switch call.method {
             case "init":
                 //self.sessionManagerChannel.invokeMethod("onError", arguments: ["SessionTEST from iOS"])
@@ -104,6 +106,22 @@ class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureReco
                 } else {
                     result(nil)
                 }
+            case "enableGeospatialMode":
+                arcoreSession = try! GARSession(apiKey: arguments?["apiKey"] as! String, bundleIdentifier: nil)
+                if(!(arcoreSession?.isGeospatialModeSupported(GARGeospatialMode.enabled) ?? false)) {
+                  result(false)
+                }
+
+                if (arcoreSession != nil) {
+                   let configuration = GARSessionConfiguration();
+                   configuration.geospatialMode = .enabled;
+                   arcoreSession?.setConfiguration(configuration, error: nil);
+                   arcoreMode = true
+                } else {
+                   sessionManagerChannel.invokeMethod("onError", arguments: ["Error initializing Google AR Session"])
+                }
+
+                break
             case "dispose":
                 onDispose(result)
                 result(nil)
@@ -182,7 +200,7 @@ class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureReco
                 }
                 break
             case "initGoogleCloudAnchorMode":
-                arcoreSession = try! GARSession.session()
+            arcoreSession = try! GARSession.session()
 
                 if (arcoreSession != nil){
                     let configuration = GARSessionConfiguration();
@@ -366,7 +384,22 @@ class IosARView: NSObject, FlutterPlatformView, ARSCNViewDelegate, UIGestureReco
     func session(_ session: ARSession, didUpdate frame: ARFrame) {
         if (arcoreMode) {
             do {
-                try arcoreSession!.update(frame)
+                let garFrame = try arcoreSession!.update(frame)
+                let earth = garFrame.earth
+                if(earth?.earthState == .enabled) {
+                    let geospatialTransform = earth?.cameraGeospatialTransform
+                    var map = Dictionary<String, Any>();
+                    map["latitude"] = geospatialTransform?.coordinate.latitude
+                    map["longitude"] = geospatialTransform?.coordinate.longitude
+                    map["altitude"] = geospatialTransform?.altitude
+                    var eastUpSouthQuaternion: [Float?] = [geospatialTransform?.eastUpSouthQTarget.imag.x, geospatialTransform?.eastUpSouthQTarget.imag.y, geospatialTransform?.eastUpSouthQTarget.imag.z, geospatialTransform?.eastUpSouthQTarget.real]
+                    map["eastUpSouthQuaternion"] = eastUpSouthQuaternion
+                    map["horizontalAccuracy"] = geospatialTransform?.horizontalAccuracy
+                    map["orientationYawAccuracy"] = geospatialTransform?.orientationYawAccuracy
+                    map["verticalAccuracy"] = geospatialTransform?.verticalAccuracy
+
+                    sessionManagerChannel.invokeMethod("onCameraGeospatialPoseDetected", arguments: map)
+                }
             } catch {
                 print(error)
             }

ios/ar_flutter_plugin.podspec

@@ -20,7 +20,8 @@ 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', '~> 1.33.0' # Updated from 1.32 to 1.33 to support Apple Silicon, info here: https://github.com/google-ar/arcore-ios-sdk/issues/59#issuecomment-1219756010
+  s.dependency 'ARCoreNanoPbUpdated/CloudAnchors', '~> 1.46.0.2'
+  s.dependency 'ARCoreNanoPbUpdated/Geospatial', '~> 1.46.0.2'
   s.platform = :ios, '13.0'
 
 

lib/managers/ar_session_manager.dart

@@ -3,6 +3,7 @@ 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_geospatial_pose.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';
@@ -12,6 +13,9 @@ 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);
 
+typedef ARCameraGeospatialPoseHandler = void Function(
+    ARGeospatialPose cameraGeospatialPose);
+
 /// Manages the session configuration, parameters and events of an [ARView]
 class ARSessionManager {
   /// Platform channel used for communication from and to [ARSessionManager]
@@ -29,6 +33,8 @@ class ARSessionManager {
   /// Receives hit results from user taps with tracked planes or feature points
   late ARHitResultHandler onPlaneOrPointTap;
 
+  ARCameraGeospatialPoseHandler? onCameraGeospatialPoseDetected;
+
   ARSessionManager(int id, this.buildContext, this.planeDetectionConfig,
       {this.debug = false}) {
     _channel = MethodChannel('arsession_$id');
@@ -103,6 +109,21 @@ class ARSessionManager {
     return distance;
   }
 
+  /// Enables geospatial mode for the application.
+/// 
+/// This method invokes a platform channel to enable geospatial mode.
+/// 
+/// - [iosApiKey]: (Optional) The API key required for iOS devices.
+/// 
+/// Example usage:
+/// ```dart
+/// enableGeospatialMode(iosApiKey: 'your-ios-api-key'); // Required for iOS
+/// enableGeospatialMode(); // Works on Android without API key
+/// ```
+  void enableGeospatialMode({String? iosApiKey}) {
+    _channel.invokeMethod<bool>('enableGeospatialMode', <dynamic, dynamic>{'apiKey': iosApiKey});
+  }
+
   Future<void> _platformCallHandler(MethodCall call) {
     if (debug) {
       print('_platformCallHandler call ${call.method} ${call.arguments}');
@@ -128,6 +149,15 @@ class ARSessionManager {
             onPlaneOrPointTap(hitTestResults);
           }
           break;
+        case 'onCameraGeospatialPoseDetected':
+          if (onCameraGeospatialPoseDetected != null) {
+            final rawPoseDetected = call.arguments as Map<dynamic, dynamic>;
+            rawPoseDetected['eastUpSouthQuaternion'] = List<double>.from(
+                rawPoseDetected['eastUpSouthQuaternion']);
+            final pose = ARGeospatialPose.fromMap(rawPoseDetected);
+            onCameraGeospatialPoseDetected!(pose);
+          }
+          break;
         case 'dispose':
           _channel.invokeMethod<void>("dispose");
           break;

lib/models/ar_geospatial_pose.dart

@@ -0,0 +1,19 @@
+class ARGeospatialPose {
+  double? latitude;
+  double? longitude;
+  double? altitude;
+  List<double?>? eastUpSouthQuaternion;
+  double? horizontalAccuracy;
+  double? orientationYawAccuracy;
+  double? verticalAccuracy;
+
+  ARGeospatialPose.fromMap(Map<dynamic, dynamic> map) {
+    this.latitude = map['latitude'];
+    this.longitude = map['longitude'];
+    this.altitude = map['altitude'];
+    this.eastUpSouthQuaternion = map['eastUpSouthQuaternion'];
+    this.horizontalAccuracy = map['horizontalAccuracy'];
+    this.orientationYawAccuracy = map['orientationYawAccuracy'];
+    this.verticalAccuracy = map['verticalAccuracy'];
+  }
+}

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: 0.7.3
+version: 0.7.4
 homepage: https://lars.carius.io
 repository: https://github.com/CariusLars/ar_flutter_plugin
 
@@ -11,10 +11,10 @@ environment:
 dependencies:
   flutter:
     sdk: flutter
-  permission_handler: ^10.1.0
+  permission_handler: ^11.3.1
   vector_math: ^2.1.1
   json_annotation: ^4.5.0
-  geolocator: ^9.0.0
+  geolocator: ^13.0.2
 
 dev_dependencies:
   flutter_test: