Changelog

SDK v1.16.1
2022-03-02
Added
Developer Portal: Support for uploading Leica BLK2GO .b2g files for map construction (FOR ENTERPRISE LICENSE ONLY, contact [email protected] for licensing requests)
Core & Samples: A native UWP ARM64 plugin for HoloLens 2 + HLLocalizer sample (FOR ENTERPRISE LICENSE ONLY, contact [email protected] for licensing requests)
Mapper: Added license text
Fixed
Several bug fixes
Changed
Core: Refactored ImmersalSDK.cs to have RegisterLocalizer() and UnRegisterLocalizer() functions
SDK v1.15.0
2021-12-02
IMPORTANT
Older maps will work with the new v1.15.0 release but new maps will not work with older releases!
​
We will support v1.14.1 until March 1st, 2022
v1.14.1 REST API can be accessed through https://api.immersal.com
v1.15.0 REST API can be accessed through https://api.immersal.com/1.15.0
​
The Developer Portal will support both versions. The version can be changed through a dropdown menu at the top.
Added
Cloud Service: Restoring map data to the workspace now supports additive restore keeping old data. This allows for easy combination of existing maps.
Samples: Added a Debug Console to the Mapper app
Samples: Added a warning to the Mapper app login screen if the device has no network connection
Fixed
Core: Fixed an issue with ARMap where maps were loaded twice
Samples: Fixed a bug in the Mapper app when aligning maps without changing the root map
Changed
Cloud Service: Now uses a right-handed coordinate system
Core: Now uses a right-handed coordinate system
Core: Core scripts now convert from right-handed coordinate system to Unity's left-handed coordinate system
Samples: The Mapper app now only shows the 50 first maps in the Map Download List with an option to load more.
Known Issues
v1.15.0 support for Nreal, HWAR, Magic Leap, and HoloLens will be updated shortly. These branches have not yet been updated at release.
SDK v1.14.1
2021-09-29
Added
Graduated Magic Leap plugin in the core SDK
Developer Portal: WebXR viewing mode for Android Chrome (prerequisites: up-to-date Chrome, chrome://flags/#webxr-incubations 'Enabled')
Core: ARSpace; added OnDestroy() housekeeping
Fixed
Samples: Job / queue system in Mapper and some other samples was broken, fixed
Samples: Mapper; automatic capture experimental feature was on by default, fixed
Changed
Cloud Service: Faster map construction
Core: Recompiled and minified plugins, re-added ARMv7 support for Android (useful for Mono builds)
Samples: Updated to Unity 2020.3 LTS
SDK v1.11.3
2021-01-20
Changed
Core: Fixed a minor compatibility problem with the latest GitHub samples
SDK v1.11.2
2021-01-12
Changed
Core: Updated all plugins
Core: Improvements to the on-server localizer in ARLocalizer and ARMap
SDK v1.11.1
2021-01-11
Changed
Core: Updated localizer with improved performance and speed
REST API: New functions using async/await instead of Unity coroutines
Switched to System.Net.HttpClient everywhere, because of random problems with UnityWebRequest on iOS
General bug fixes
SDK v1.10
2020-11-11
Added
REST API: Proper URI identifiers
REST API: new endpoints for image capture and on-server localization, where the image payload can be sent as binary instead of a Base64-encoded string (smaller filesize -> faster uploads)
Immersal Mapper / REST API: Use tracker poses-feature for map construction (beta)​
Changed
Immersal Mapper: Smaller filesize in image uploads
Immersal Mapper: Localization and capturing is now faster especially on older devices, such as iPhone 7 and beyond
​Updated developer pricing​
SDK v1.9
2020-10-23
Added
Samples: Magic Leap localization support and a reference Unity project, https://github.com/immersal/arcloud-sdk-samples/tree/magicleap)
​
Core: OnPoseFound and OnPoseLost events in ImmersalSDK.cs, OnFirstLocalization event in ARMap.cs
Core: ARLocalizer.cs now has start/stop/pause/resume methods
Changed
Core: Localizer does not return the map id anymore. Instead, it returns a map handle like an earlier SDK version did.
Immersal Mapper: Updated UI
Samples: Restructured Unity core package and the Unity sample project. ARMap.cs, ARLocalizer.cs, and other essential scripts are now part of the core package. This should make future SDK updates to new versions easier.
Samples: Code cleanup
Samples: Reworked the pointcloud3d shader to support point size attribute on OpenGL, Vulkan, and Metal platforms.
Samples: Mapper app sample updated to the latest version.
SDK v1.8
2020-09-11
Added
Samples: Nreal Light localization support, https://github.com/immersal/arcloud-sdk-samples/tree/nreal​
Samples & Immersal Mapper app: Progress bar for map loading.
Documentation: REST API Python sample scripts​
Fixed
Samples: `NativeBindings` errors in Unity Editor.
Changed
Huawei AR Engine support moved to its https://github.com/immersal/arcloud-sdk-samples/tree/hwar​
Samples: Api Compatibility Level was errorneously set to .NET 4.x, switched back to .NET Standard 2.0
Samples: Mapper now stores queued images into the persistent data directory to avoid out-of-memory crashes
Samples: Updated to Unity 2019.4.9f1 LTS and AR Foundation 4.0.8
SDK v1.7
2020-07-06
Added
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.
Fixed
Samples: ARMap.cs crashing in Unity Editor when editing.
Samples: Bug fixes to Huawei AR sample scripts.
Changed
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
2020-06-05
Added
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.
Fixed
Plugin: image capturing is now a lot faster.
SDK 1.5
2020-05-05
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.
Added
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: Huawei AR Engine support​
Samples: ARLocalizer.cs has a new toggle to reset filtering when the last localized map id changes.
Samples: Graph-based navigation sample.
Fixed
Immersal Mapper: Android now properly requests for location (GPS) permissions.
Changed
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
2020-02-07
New v1.3 maps are not supported by older SDK versions.
Added
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.
Fixed
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.
Changed
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
2019-10-16
Added
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.
Fixed
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.
Changed
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
2019-09-12
Added
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.
Fixed
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.
Changed
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
2019-06-24
Added
Samples: Mapping App now notifies the user if sequential captured images can be connected by their matching feature points.
Changed
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
2019-06-12
Added
SDK: Improved multimap support in Unity Editor.
SDK: ARLocalizer.cs finds the first pose much faster.
Changed
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
2019-05-23
Added
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.
Changed
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
2019-04-08
Added
Samples: Persistent Content Placement Sample Scene.
Samples: Pose Filtering in SampleScene.
Developer Portal: Dense point cloud download.
SDK: RGB Camera Capture option.
Changed
Samples: MappingApp UI and UX improvements.
SDK: Updated to OpenCV 4.
SDK: Improved network bandwidth usage during mapping.
SDK 0.16
2019-03-07
Added
Samples: Indoor Navigation Sample Scene.
Samples: Tracking Quality Indicator PoseIndicator in SampleScene.
Developer Portal: Sparse point cloud download.
SDK: Feature Anchor sets map orientation.
Changed
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.
Fixed
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
2019-02-17
Initial release
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