SDK v1.7



  • Core: Improved localization robustness.

  • Core: REST API clean-up; error, start, progress, and complete callbacks.

  • Core: REST API; Map construct detail level.

  • Samples: Native double-precision GPS coordinates for iOS and Android.

  • Samples: Image upload progress bar to Mapper UI.

  • Samples: Map construction detail level in Mapper.

  • Samples: Visual GPS compass bearing in Mapper.


  • Samples: ARMap.cs crashing in Unity Editor when editing.

  • Samples: Bug fixes to Huawei AR sample scripts.


  • Core: Smaller plug-in size.

  • Core: Changed map hashes from MD5 to SHA256.

  • Samples: Updated to Unity 2019.4 LTS and AR Foundation 4.

Known issues:

  • Assets\ImmersalSDK\Core\Plugins\NativeBindings.cs(73,24): error CS0161: 'NativeBindings.GetLatitude()': not all code paths return a value If Unity's platform is 'PC, Mac & Linux Standalone', there's a regression bug in the Core SDK. Switch platform to iOS or Android to resolve the issue.

SDK v1.6



  • Server / Developer Portal: Support for textured meshes (both grayscale and RGB).

  • Samples: ARLocalizer.cs, ARSpace.cs & ARMap.cs: support for uniform scaling of maps.

  • Samples: ARLocalizer.cs now has MapChanged and PoseFound events.


  • Plugin: image capturing is now a lot faster.

SDK 1.5


SDK v1.4 was released to closed testing earlier. After a round of updates and new features, we decided to fast-track v1.5 out for public release.

New v1.5 (technically v1.4) maps are not supported by older SDK versions.


  • Server/Developer Portal: Support for private and public maps.

  • Server/Developer Portal: Sending/copying maps between accounts.

  • Server/Developer Portal: Search for public maps and filter by GPS coordinates or user accounts.

  • Server/Developer Portal: SHA256 hashes for new maps.

  • Server/Developer Portal: Reset the private developer token.

  • Samples: ARLocalizer.cs has a new toggle to reset filtering when the last localized map id changes.

  • Samples: Graph-based navigation sample.


  • Immersal Mapper: Android now properly requests for location (GPS) permissions.


  • Server/Plug-in: Generated maps are now up to 80% smaller.

  • Server/Plug-in: Map file format is not compatible with v1.3 anymore. v1.5.0 plugin can still load maps done with earlier SDK versions. Server/Plug-in: Both the localization accuracy and speed have been improved. Plug-in: The native plugins are now 75% smaller.

  • Developer Portal: Updated version of the Developer Portal to support new features.

  • Samples: ARlocalizer.cs lastLocalizedMapId variable made public.

SDK 1.3


New v1.3 maps are not supported by older SDK versions.


  • Developer Portal: v1.3 breaks map file format forward compatibility. Old maps are stored in a separate legacy v1.2 Developer Portal. Maps are not carried over to the new version.

  • Developer Portal: A new sparse state in map construction. Maps are generated faster as you can now download the .bytes file and sparse .ply point cloud before the dense mesh is computed.

  • Server: On-server localizer now also accepts RGB24 .png images in addition to 8-bit grayscale ones for easier headset integration.

  • Plugin: Visual GPS support. If a map contains GPS data, the localizer will return WGS84 lat/long/alt coordinates with a successful localization.

  • Samples: Mapping App now has a GPS toggle. When on, captured images contain GPS coordinate data which is used in map construction. Also, maps in the map list are filtered with a 200-meter radius from the current location.


  • ARLocalizer.cs Burst mode now runs when the app enters the foreground.

  • ARLocalizer.cs and ARHelper.cs Fixed rotation for different screen orientations so portrait/landscape/auto now work.

  • Plugin: Localizer now returns -1 mapID if no maps are loaded.


  • Immersal AR Cloud SDK name to Immersal SDK everywhere.

  • Developer Portal: Dense meshes are now more detailed.

  • Plugin: Localizer now returns the actual mapID from the Developer Portal instead of a mapHandle unique to the session.

  • Plugin: Map file format changed. Old .bytes files continue to work in v1.3, but new maps will not work in older versions.

  • Samples: Updated project to Unity 2019.2.20f1.

  • Samples: Added dependancy to AR Foundation 3.1 preview, because some scenes have AR Occlusion Manager attached to the AR Camera. Older versions of AR Foundation continue to work.

  • Samples: Updated NavigationSample scripts.

SDK 1.2



  • Developer Portal: Map stitching. You can select multiple maps and combine them into one new map (assuming the maps have overlapping features).

  • Samples: Mapping App can now restore any old map's source data to the workspace from the map list.

  • Samples: Mapping app can also delete maps from the map list directly.

  • SDK: Mapping performance improvements.

  • SDK: REST API updated.


  • Samples: The "AR Cloud space" rotation and position can now be gotten from ARSpace.cs instead of ARLocalizer.cs, which was buggy anyway and returned only the first map's pose, thus giving incorrect results when using multimaps.

  • Samples: Navigation and multiplayer samples fixed to work with multimaps.

  • Samples: UI fixes all over.


  • Samples: Updated project to Unity 2019.2.8f1 and AR Foundation 3.0.0 preview.3, should continue to work just fine with older versions.

  • Developer Portal: Updated EULA.

SDK 1.1



  • A simple Multiplayer Sample scene using Unity Networking (Note: You need to enable Multiplayer in Unity Services).

  • Variable lighting adaptation.

  • Android 64-bit support.

  • Map Download Sample (previously SampleScene) and MapListController.cs are back by popular demand.

  • On-server localization.

  • Gravity-based map alignment when constructing a new map.


  • Mapping and localization now work on iPad Mini (probably fixes problems with various Android devices as well).

  • Point cloud renderer and runtime map loading fixes.

  • On-device localization was sometimes giving false results.


  • Supported Unity version is now 2019.2.3f1+, should work on 2018.4 LTS still with correct AR Foundation packages.

  • Android plugin is now an .aar file with both 32-bit and 64-bit binaries.

SDK 1.01



  • Samples: Mapping App now notifies the user if sequential captured images can be connected by their matching feature points.


  • Samples: C# API updated for AR Foundation 1.5 / 2.2.

  • Samples: Point cloud preview bugs fixed.

  • Samples: Now distributed in a separate GitHub repository.

  • SDK: Requires Unity 2018.4 LTS.

  • SDK: Now distributed as a .unitypackage (available at the developer portal).

SDK 0.19



  • SDK: Improved multimap support in Unity Editor.

  • SDK: ARLocalizer.cs finds the first pose much faster.


  • Samples: Improved MappingApp with separate Workspace and Visualize modes.

  • Samples: Changes to sample scenes to support multimap feature.

  • SDK: ARSpace.cs functionality moved to ARMap.cs to clarify multimap workflow.

SDK 0.18



  • Samples: Downsample option in ARLocalizer. Uses less memory and is faster.

  • Samples: Multimap loading support in MappingApp.

  • Samples: RGB Image Capture Toggle in MappingApp.

  • Developer Portal: Dense point cloud download.

  • Developer Portal: Delete map function.

  • SDK: Initial multimap support.


  • SDK: Fixed camera intrinsics calculation (fixes screen space Y offset bug on iOS devices).

  • SDK: ARCloud.cs script removed, ARSpace.cs has the same functionality.

Known issues

  • Samples: Removed the drop-down menu for dynamic map loading. It needs to be completely reworked to support multimaps.

SDK 0.17



  • Samples: Persistent Content Placement Sample Scene.

  • Samples: Pose Filtering in SampleScene.

  • Developer Portal: Dense point cloud download.

  • SDK: RGB Camera Capture option.


  • Samples: MappingApp UI and UX improvements.

  • SDK: Updated to OpenCV 4.

  • SDK: Improved network bandwidth usage during mapping.

SDK 0.16



  • Samples: Indoor Navigation Sample Scene.

  • Samples: Tracking Quality Indicator PoseIndicator in SampleScene.

  • Developer Portal: Sparse point cloud download.

  • SDK: Feature Anchor sets map orientation.


  • Samples: Option to switch between different maps in addition to the embedded one.

  • Samples: MappingApp UI and UX improvements.

  • Samples: MappingApp Capture Delay decreased from 0.5 seconds to 0.25 seconds.

  • Unity Package: Project cleanup.


  • Samples: Fixed crash when no debug text was assigned to ARLocalizer.

  • SDK: Fixed a bug with setting the camera resolution. Now defaults to best possible.

SDK 0.15


Initial release