ARNavigationKit Aims to provide easy-to-use path planning For ARKit. By automatically creating dynamic navigational maps during runtime.
To run the Example project, clone the repo, and run pod install
Example project for a ARKit Robot With path planning capabilities.
iOS 10.0+
Xcode 10.0+
Swift 4.2+
And ARkit enabled device
ARNavigationKit is available through CocoaPods. To install it, simply add the following line to your Podfile:
source 'https://github.com/ferdinandl007/ARNavigationKitPodSpecs.git'
pod 'ARNavigationKit','~> 1.0.0'
import the following.
import ARNavigationKit
When initialising the ARNavigationKit, I recommend a voxel size of 7cm when dealing with single room application. However you may want to increase the grit size for larger maps to reduce computation when computing Paths.
let voxelMap = ARNavigationKit(VoxelGridCellSize: 0.07)
voxelMap.arNavigationKitDelegate = self
Once your a session is running capture the feature points and add them into the map as follows. 10Hz should be sufficient to capture a good map and reduce computation to a minimum.
Timer.scheduledTimer(withTimeInterval: 0.1, repeats: true) { _ in
guard let currentFrame = self.augmentedRealitySession.currentFrame,
let featurePointsArray = currentFrame.rawFeaturePoints?.points else { return }
self.voxelMap.addVoxels(featurePointsArray)
}
ARNavigationKit needs to know about the ground height to detect obstacles, therefore use
extension ViewController: ARSCNViewDelegate {
func renderer(_: SCNSceneRenderer, didAdd node: SCNNode, for anchor: ARAnchor) {
guard let planeAnchor = anchor as? ARPlaneAnchor else { return }
voxelMap.updateGroundPlane(planeAnchor)
}
func renderer(_: SCNSceneRenderer, didUpdate node: SCNNode, for anchor: ARAnchor) {
guard let planeAnchor = anchor as? ARPlaneAnchor else { return }
voxelMap.updateGroundPlane(planeAnchor)
}
}
To request a path.
voxelMap.getPath(start: SCNVector3, end: SCNVector3)
As Path calculation can take some time, a delegate method is called once the calculation is complete.
extension ViewController: ARNavigationKitDelegate {
func getPathupdate(_ path: [vector_float3]?) {
}
func updateDebugView(_ View: UIView) {
}
}
Ferdinand Loesch, [email protected]
ARNavigationKit is available under the MIT license. See the LICENSE file for more info.