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BP ReferencePoints sample 1.5 Backport

README.md

 # AR Foundation Samples
 Example projects that use *AR Foundation* and demonstrate its functionality with sample assets and components.
 
-Compatible with Unity 2018.3.
+Compatible with Unity 2018.4.
-1. Download the latest version of Unity 2018.3
+1. Download the latest version of Unity 2018.4.
-2. Open Unity and load the project at the root of the *arfoundation-samples* repository
+2. Open Unity, and load the project at the root of the *arfoundation-samples* repository.
-4. See the [AR Foundation Documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@1.0) for usage instructions and more information.
+4. See the [AR Foundation Documentation](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@1.5) for usage instructions and more information.

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Assets/Scripts/PlaceOnPlane.cs

-using System.Collections.Generic;
+using System.Collections.Generic;
 using UnityEngine;
 using UnityEngine.XR.ARFoundation;
 using UnityEngine.XR.ARSubsystems;
 /// AR raycasts will only hit detected trackables like feature points and planes.
-/// 
+///
 /// If a raycast hits a trackable, the <see cref="placedPrefab"/> is instantiated
 /// and moved to the hit position.
 /// </summary>
         get { return m_PlacedPrefab; }
         set { m_PlacedPrefab = value; }
     }
-    
+
     /// <summary>
     /// The object instantiated as a result of a successful raycast intersection with a plane.
     /// </summary>
         m_RaycastManager = GetComponent<ARRaycastManager>();
     }
 
+    bool TryGetTouchPosition(out Vector2 touchPosition)
+    {
+#if UNITY_EDITOR
+        if (Input.GetMouseButton(0))
+        {
+            var mousePosition = Input.mousePosition;
+            touchPosition = new Vector2(mousePosition.x, mousePosition.y);
+            return true;
+        }
+#else
+        if (Input.touchCount > 0)
+        {
+            touchPosition = Input.GetTouch(0).position;
+            return true;
+        }
+#endif
+
+        touchPosition = default;
+        return false;
+    }
+
-        if (Input.touchCount == 0)
+        if (!TryGetTouchPosition(out Vector2 touchPosition))
-        var touch = Input.GetTouch(0);
-
-        if (m_RaycastManager.Raycast(touch.position, s_Hits, TrackableType.PlaneWithinPolygon))
+        if (m_RaycastManager.Raycast(touchPosition, s_Hits, TrackableType.PlaneWithinPolygon))
         {
             // Raycast hits are sorted by distance, so the first one
             // will be the closest hit.

Assets/Scripts/CameraConfigController.cs

     /// the selection in the UI.
     /// </summary>
     /// <param name="dropdown">The <c>Dropdown</c> which changed.</param>
-    public void OnValueChanged(Dropdown dropdown)
+    void OnDropdownValueChanged(Dropdown dropdown)
     {
         if ((cameraManager == null) || (cameraManager.subsystem == null) || !cameraManager.subsystem.running)
         {
     {
         m_Dropdown = GetComponent<Dropdown>();
         m_Dropdown.ClearOptions();
+        m_Dropdown.onValueChanged.AddListener(delegate { OnDropdownValueChanged(m_Dropdown); });
         m_ConfigurationNames = new List<string>();
     }
 

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Assets/Scripts/Logger.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Text;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class Logger : MonoBehaviour
+{
+    [SerializeField]
+    Text m_LogText;
+    public Text logText
+    {
+        get { return s_LogText; }
+        set
+        {
+            m_LogText = value;
+            s_LogText = value;
+        }
+    }
+
+    [SerializeField]
+    int m_VisibleMessageCount = 40;
+    public int visibleMessageCount
+    {
+        get { return s_VisibleMessageCount; }
+        set
+        {
+            m_VisibleMessageCount = value;
+            s_VisibleMessageCount = value;
+        }
+    }
+
+    int m_LastMessageCount;
+
+    static int s_VisibleMessageCount;
+
+    static Text s_LogText;
+
+    static List<string> s_Log = new List<string>();
+
+    static StringBuilder s_StringBuilder = new StringBuilder();
+
+    void Awake()
+    {
+        s_LogText = m_LogText;
+        s_VisibleMessageCount = m_VisibleMessageCount;
+        Log("Log console initialized.");
+    }
+
+    void Update()
+    {
+        lock (s_Log)
+        {
+            if (m_LastMessageCount != s_Log.Count)
+            {
+                s_StringBuilder.Clear();
+                var startIndex = Mathf.Max(s_Log.Count - s_VisibleMessageCount, 0);
+                for (int i = startIndex; i < s_Log.Count; ++i)
+                {
+                    s_StringBuilder.Append($"{i:000}> {s_Log[i]}\n");
+                }
+
+                s_LogText.text = s_StringBuilder.ToString();
+            }
+
+            m_LastMessageCount = s_Log.Count;
+        }
+    }
+
+    public static void Log(string message)
+    {
+        lock (s_Log)
+        {
+            if (s_Log == null)
+                s_Log = new List<string>();
+
+            s_Log.Add(message);
+        }
+    }
+}

Assets/Scripts/Logger.cs.meta

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Assets/Scripts/ReferencePointCreator.cs

+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+
+[RequireComponent(typeof(ARReferencePointManager))]
+[RequireComponent(typeof(ARRaycastManager))]
+public class ReferencePointCreator : MonoBehaviour
+{
+    public void RemoveAllReferencePoints()
+    {
+        foreach (var referencePoint in m_ReferencePoints)
+        {
+            m_ReferencePointManager.RemoveReferencePoint(referencePoint);
+        }
+        m_ReferencePoints.Clear();
+    }
+
+    void Awake()
+    {
+        m_RaycastManager = GetComponent<ARRaycastManager>();
+        m_ReferencePointManager = GetComponent<ARReferencePointManager>();
+        m_ReferencePoints = new List<ARReferencePoint>();
+    }
+
+    void Update()
+    {
+        if (Input.touchCount == 0)
+            return;
+
+        var touch = Input.GetTouch(0);
+        if (touch.phase != TouchPhase.Began)
+            return;
+
+        if (m_RaycastManager.Raycast(touch.position, s_Hits, TrackableType.FeaturePoint))
+        {
+            // Raycast hits are sorted by distance, so the first one
+            // will be the closest hit.
+            var hitPose = s_Hits[0].pose;
+            var referencePoint = m_ReferencePointManager.AddReferencePoint(hitPose);
+            if (referencePoint == null)
+            {
+                Logger.Log("Error creating reference point");
+            }
+            else
+            {
+                m_ReferencePoints.Add(referencePoint);
+            }
+        }
+    }
+
+    static List<ARRaycastHit> s_Hits = new List<ARRaycastHit>();
+
+    List<ARReferencePoint> m_ReferencePoints;
+
+    ARRaycastManager m_RaycastManager;
+
+    ARReferencePointManager m_ReferencePointManager;
+}

Assets/Scripts/ReferencePointCreator.cs.meta

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+  assetBundleVariant: 

Assets/Scripts/ScreenSpaceJointVisualizer.cs

+using System;
+using System.Text;
+using System.Collections.Generic;
+using Unity.Collections;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+
+public class ScreenSpaceJointVisualizer : MonoBehaviour
+{
+    // 2D joint skeleton
+    enum JointIndices
+    {
+        Invalid = -1,
+        head_joint = 0, // parent: neck_1_joint [1]
+        neck_1_joint = 1, // parent: root [16]
+        right_shoulder_1_joint = 2, // parent: neck_1_joint [1]
+        right_forearm_joint = 3, // parent: right_shoulder_1_joint [2]
+        right_hand_joint = 4, // parent: right_forearm_joint [3]
+        left_shoulder_1_joint = 5, // parent: neck_1_joint [1]
+        left_forearm_joint = 6, // parent: left_shoulder_1_joint [5]
+        left_hand_joint = 7, // parent: left_forearm_joint [6]
+        right_upLeg_joint = 8, // parent: root [16]
+        right_leg_joint = 9, // parent: right_upLeg_joint [8]
+        right_foot_joint = 10, // parent: right_leg_joint [9]
+        left_upLeg_joint = 11, // parent: root [16]
+        left_leg_joint = 12, // parent: left_upLeg_joint [11]
+        left_foot_joint = 13, // parent: left_leg_joint [12]
+        right_eye_joint = 14, // parent: head_joint [0]
+        left_eye_joint = 15, // parent: head_joint [0]
+        root = 16, // parent: <none> [-1]
+    }
+
+    [SerializeField]
+    [Tooltip("The AR camera being used in the scene.")]
+    Camera m_ARCamera;
+
+    /// <summary>
+    /// Get or set the <c>Camera</c>.
+    /// </summary>
+    public Camera arCamera
+    {
+        get { return m_ARCamera; }
+        set { m_ARCamera = value; }
+    }
+
+    [SerializeField]
+    [Tooltip("The ARHumanBodyManager which will produce human body anchors.")]
+    ARHumanBodyManager m_HumanBodyManager;
+
+    /// <summary>
+    /// Get or set the <c>ARHumanBodyManager</c>.
+    /// </summary>
+    public ARHumanBodyManager humanBodyManager
+    {
+        get { return m_HumanBodyManager; }
+        set { m_HumanBodyManager = value; }
+    }
+
+    [SerializeField]
+    [Tooltip("A prefab that contains a LineRenderer component that will be used for rendering lines, representing the skeleton joints.")]
+    GameObject m_LineRendererPrefab;
+
+    /// <summary>
+    /// Get or set the Line Renderer prefab.
+    /// </summary>
+    public GameObject lineRendererPrefab
+    {
+        get { return m_LineRendererPrefab; }
+        set { m_LineRendererPrefab = value; }
+    }
+
+    Dictionary<int, GameObject> m_LineRenderers;
+    static HashSet<int> s_JointSet = new HashSet<int>();
+
+    void Awake()
+    {
+        m_LineRenderers = new Dictionary<int, GameObject>();
+    }
+
+    void UpdateRenderer(NativeArray<XRHumanBodyPose2DJoint> joints, int index)
+    {
+        GameObject lineRendererGO;
+        if (!m_LineRenderers.TryGetValue(index, out lineRendererGO))
+        {
+            lineRendererGO = Instantiate(m_LineRendererPrefab, transform);
+            m_LineRenderers.Add(index, lineRendererGO);
+        }
+
+        var lineRenderer = lineRendererGO.GetComponent<LineRenderer>();
+
+        // Traverse hierarchy to determine the longest line set that needs to be drawn.
+        var positions = new NativeArray<Vector2>(joints.Length, Allocator.Temp);
+        try
+        {
+            var boneIndex = index;
+            int jointCount = 0;
+            while (boneIndex >= 0)
+            {
+                var joint = joints[boneIndex];
+                if (joint.tracked)
+                {
+                    positions[jointCount++] = joint.position;
+                    if (!s_JointSet.Add(boneIndex))
+                        break;
+                }
+                else
+                    break;
+
+                boneIndex = joint.parentIndex;
+            }
+
+            // Render the joints as lines on the camera's near clip plane.
+            lineRenderer.positionCount = jointCount;
+            lineRenderer.startWidth = 0.001f;
+            lineRenderer.endWidth = 0.001f;
+            for (int i = 0; i < jointCount; ++i)
+            {
+                var position = positions[i];
+                var worldPosition = m_ARCamera.ViewportToWorldPoint(
+                    new Vector3(position.x, position.y, m_ARCamera.nearClipPlane));
+                lineRenderer.SetPosition(i, worldPosition);
+            }
+            lineRendererGO.SetActive(true);
+        }
+        finally
+        {
+            positions.Dispose();
+        }
+    }
+
+    void Update()
+    {
+        Debug.Assert(m_HumanBodyManager != null, "Human body manager cannot be null");
+        var joints = m_HumanBodyManager.GetHumanBodyPose2DJoints(Allocator.Temp);
+        if (!joints.IsCreated)
+        {
+            HideJointLines();
+            return;
+        }
+
+        using (joints)
+        {
+            s_JointSet.Clear();
+            for (int i = joints.Length - 1; i >= 0; --i)
+            {
+                if (joints[i].parentIndex != -1)
+                    UpdateRenderer(joints, i);
+            }
+        }
+    }
+
+    void HideJointLines()
+    {
+        foreach (var lineRenderer in m_LineRenderers)
+        {
+            lineRenderer.Value.SetActive(false);
+        }
+    }
+}

Assets/Scripts/ScreenSpaceJointVisualizer.cs.meta

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+  assetBundleVariant: 

Assets/Scripts/SupportChecker.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+/// <summary>
+/// This example shows how to check for AR support before the ARSession is enabled.
+/// For ARCore in particular, it is possible for a device to support ARCore but not
+/// have it installed. This example will detect this case and prompt the user to install ARCore.
+/// To test this feature yourself, use a supported device and uninstall ARCore.
+/// (Settings > Search for "ARCore" and uninstall or disable it.)
+/// </summary>
+public class SupportChecker : MonoBehaviour
+{
+    [SerializeField]
+    ARSession m_Session;
+
+    public ARSession session
+    {
+        get { return m_Session; }
+        set { m_Session = value; }
+    }
+
+    [SerializeField]
+    Text m_LogText;
+
+    public Text logText
+    {
+        get { return m_LogText; }
+        set { m_LogText = value; }
+    }
+
+    [SerializeField]
+    Button m_InstallButton;
+
+    public Button installButton
+    {
+        get { return m_InstallButton; }
+        set { m_InstallButton = value; }
+    }
+
+    void Log(string message)
+    {
+        m_LogText.text += $"{message}\n";
+    }
+
+    IEnumerator CheckSupport()
+    {
+        SetInstallButtonActive(false);
+
+        Log("Checking for AR support...");
+
+        yield return ARSession.CheckAvailability();
+
+        if (ARSession.state == ARSessionState.NeedsInstall)
+        {
+            Log("Your device supports AR, but requires a software update.");
+            Log("Attempting install...");
+            yield return ARSession.Install();
+        }
+
+        if (ARSession.state == ARSessionState.Ready)
+        {
+            Log("Your device supports AR!");
+            Log("Starting AR session...");
+
+            // To start the ARSession, we just need to enable it.
+            m_Session.enabled = true;
+        }
+        else
+        {
+            switch (ARSession.state)
+            {
+                case ARSessionState.Unsupported:
+                    Log("Your device does not support AR.");
+                    break;
+                case ARSessionState.NeedsInstall:
+                    Log("The software update failed, or you declined the update.");
+
+                    // In this case, we enable a button which allows the user
+                    // to try again in the event they decline the update the first time.
+                    SetInstallButtonActive(true);
+                    break;
+            }
+
+            Log("\n[Start non-AR experience instead]");
+
+            //
+            // Start a non-AR fallback experience here...
+            //
+        }
+    }
+
+    void SetInstallButtonActive(bool active)
+    {
+        if (m_InstallButton != null)
+            m_InstallButton.gameObject.SetActive(active);
+    }
+
+    IEnumerator Install()
+    {
+        SetInstallButtonActive(false);
+
+        if (ARSession.state == ARSessionState.NeedsInstall)
+        {
+            Log("Attempting install...");
+            yield return ARSession.Install();
+
+            if (ARSession.state == ARSessionState.NeedsInstall)
+            {
+                Log("The software update failed, or you declined the update.");
+                SetInstallButtonActive(true);
+            }
+            else if (ARSession.state == ARSessionState.Ready)
+            {
+                Log("Success! Starting AR session...");
+                m_Session.enabled = true;
+            }
+        }
+        else
+        {
+            Log("Error: ARSession does not require install.");
+        }
+    }
+
+    public void OnInstallButtonPressed()
+    {
+        StartCoroutine(Install());
+    }
+
+    void OnEnable()
+    {
+        StartCoroutine(CheckSupport());
+    }
+}

Assets/Scripts/SupportChecker.cs.meta

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Assets/Scripts/TestDepthImage.cs

+using System;
+using System.Text;
+using Unity.Collections.LowLevel.Unsafe;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+
+/// <summary>
+/// This component tests getting the latest camera image
+/// and converting it to RGBA format. If successful,
+/// it displays the image on the screen as a RawImage
+/// and also displays information about the image.
+///
+/// This is useful for computer vision applications where
+/// you need to access the raw pixels from camera image
+/// on the CPU.
+///
+/// This is different from the ARCameraBackground component, which
+/// efficiently displays the camera image on the screen. If you
+/// just want to blit the camera texture to the screen, use
+/// the ARCameraBackground, or use Graphics.Blit to create
+/// a GPU-friendly RenderTexture.
+///
+/// In this example, we get the camera image data on the CPU,
+/// convert it to an RGBA format, then display it on the screen
+/// as a RawImage texture to demonstrate it is working.
+/// This is done as an example; do not use this technique simply
+/// to render the camera image on screen.
+/// </summary>
+public class TestDepthImage : MonoBehaviour
+{
+    [SerializeField]
+    [Tooltip("The ARHumanBodyManager which will produce frame events.")]
+    ARHumanBodyManager m_HumanBodyManager;
+
+     /// <summary>
+    /// Get or set the <c>ARHumanBodyManager</c>.
+    /// </summary>
+    public ARHumanBodyManager humanBodyManager
+    {
+        get { return m_HumanBodyManager; }
+        set { m_HumanBodyManager = value; }
+    }
+
+    [SerializeField]
+    RawImage m_RawImage;
+
+    /// <summary>
+    /// The UI RawImage used to display the image on screen.
+    /// </summary>
+    public RawImage rawImage
+    {
+        get { return m_RawImage; }
+        set { m_RawImage = value; }
+    }
+
+    [SerializeField]
+    Text m_ImageInfo;
+
+    /// <summary>
+    /// The UI Text used to display information about the image on screen.
+    /// </summary>
+    public Text imageInfo
+    {
+        get { return m_ImageInfo; }
+        set { m_ImageInfo = value; }
+    }
+
+    void LogTextureInfo(StringBuilder stringBuilder, string textureName, Texture2D texture)
+    {
+        stringBuilder.AppendFormat("texture : {0}\n", textureName);
+        if (texture == null)
+        {
+            stringBuilder.AppendFormat("   <null>\n");
+        }
+        else
+        {
+            stringBuilder.AppendFormat("   format : {0}\n", texture.format.ToString());
+            stringBuilder.AppendFormat("   width  : {0}\n", texture.width);
+            stringBuilder.AppendFormat("   height : {0}\n", texture.height);
+            stringBuilder.AppendFormat("   mipmap : {0}\n", texture.mipmapCount);
+        }
+    }
+
+    void Update()
+    {
+        var subsystem = m_HumanBodyManager.subsystem;
+        if (subsystem == null)
+        {
+            if (m_ImageInfo != null)
+            {
+                m_ImageInfo.text = "Human Segmentation not supported.";
+            }
+            return;
+        }
+
+        StringBuilder sb = new StringBuilder();
+        Texture2D humanStencil = m_HumanBodyManager.humanStencilTexture;
+        Texture2D humanDepth = m_HumanBodyManager.humanDepthTexture;
+        LogTextureInfo(sb, "stencil", humanStencil);
+        LogTextureInfo(sb, "depth", humanDepth);
+
+        if (m_ImageInfo != null)
+        {
+            m_ImageInfo.text = sb.ToString();
+        }
+        else
+        {
+            Debug.Log(sb.ToString());
+        }
+
+        // To use the stencil, be sure the HumanSegmentationStencilMode property on the ARHumanBodyManager is set to a
+        // non-disabled value.
+        m_RawImage.texture = humanStencil;
+
+        // To use the depth, be sure the HumanSegmentationDepthMode property on the ARHumanBodyManager is set to a
+        /// non-disabled value.
+        // m_RawImage.texture = eventArgs.humanDepth;
+    }
+}

Assets/Scripts/TestDepthImage.cs.meta

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Assets/Scripts/TestHumanBodyTracking.cs

+using System;
+using System.Text;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+
+using Object = UnityEngine.Object;
+
+public class TestHumanBodyTracking : MonoBehaviour
+{
+    // 3D joint skeleton
+    enum JointIndices
+    {
+        Invalid = -1,
+        root = 0, // parent: <none> [-1]
+        hips_joint = 1, // parent: root [0]
+        left_upLeg_joint = 2, // parent: hips_joint [1]
+        left_leg_joint = 3, // parent: left_upLeg_joint [2]
+        left_foot_joint = 4, // parent: left_leg_joint [3]
+        left_toes_joint = 5, // parent: left_foot_joint [4]
+        left_toesEnd_joint = 6, // parent: left_toes_joint [5]
+        right_upLeg_joint = 7, // parent: hips_joint [1]
+        right_leg_joint = 8, // parent: right_upLeg_joint [7]
+        right_foot_joint = 9, // parent: right_leg_joint [8]
+        right_toes_joint = 10, // parent: right_foot_joint [9]
+        right_toesEnd_joint = 11, // parent: right_toes_joint [10]
+        spine_1_joint = 12, // parent: hips_joint [1]
+        spine_2_joint = 13, // parent: spine_1_joint [12]
+        spine_3_joint = 14, // parent: spine_2_joint [13]
+        spine_4_joint = 15, // parent: spine_3_joint [14]
+        spine_5_joint = 16, // parent: spine_4_joint [15]
+        spine_6_joint = 17, // parent: spine_5_joint [16]
+        spine_7_joint = 18, // parent: spine_6_joint [17]
+        right_shoulder_1_joint = 19, // parent: spine_7_joint [18]
+        right_shoulder_2_joint = 20, // parent: right_shoulder_1_joint [19]
+        right_arm_joint = 21, // parent: right_shoulder_2_joint [20]
+        right_forearm_joint = 22, // parent: right_arm_joint [21]
+        right_hand_joint = 23, // parent: right_forearm_joint [22]
+        right_handThumbStart_joint = 24, // parent: right_hand_joint [23]
+        right_handThumb_1_joint = 25, // parent: right_handThumbStart_joint [24]
+        right_handThumb_2_joint = 26, // parent: right_handThumb_1_joint [25]
+        right_handThumbEnd_joint = 27, // parent: right_handThumb_2_joint [26]
+        right_handIndexStart_joint = 28, // parent: right_hand_joint [23]
+        right_handIndex_1_joint = 29, // parent: right_handIndexStart_joint [28]
+        right_handIndex_2_joint = 30, // parent: right_handIndex_1_joint [29]
+        right_handIndex_3_joint = 31, // parent: right_handIndex_2_joint [30]
+        right_handIndexEnd_joint = 32, // parent: right_handIndex_3_joint [31]
+        right_handMidStart_joint = 33, // parent: right_hand_joint [23]
+        right_handMid_1_joint = 34, // parent: right_handMidStart_joint [33]
+        right_handMid_2_joint = 35, // parent: right_handMid_1_joint [34]
+        right_handMid_3_joint = 36, // parent: right_handMid_2_joint [35]
+        right_handMidEnd_joint = 37, // parent: right_handMid_3_joint [36]
+        right_handRingStart_joint = 38, // parent: right_hand_joint [23]
+        right_handRing_1_joint = 39, // parent: right_handRingStart_joint [38]
+        right_handRing_2_joint = 40, // parent: right_handRing_1_joint [39]
+        right_handRing_3_joint = 41, // parent: right_handRing_2_joint [40]
+        right_handRingEnd_joint = 42, // parent: right_handRing_3_joint [41]
+        right_handPinkyStart_joint = 43, // parent: right_hand_joint [23]
+        right_handPinky_1_joint = 44, // parent: right_handPinkyStart_joint [43]
+        right_handPinky_2_joint = 45, // parent: right_handPinky_1_joint [44]
+        right_handPinky_3_joint = 46, // parent: right_handPinky_2_joint [45]
+        right_handPinkyEnd_joint = 47, // parent: right_handPinky_3_joint [46]
+        left_shoulder_1_joint = 48, // parent: spine_7_joint [18]
+        left_shoulder_2_joint = 49, // parent: left_shoulder_1_joint [48]
+        left_arm_joint = 50, // parent: left_shoulder_2_joint [49]
+        left_forearm_joint = 51, // parent: left_arm_joint [50]
+        left_hand_joint = 52, // parent: left_forearm_joint [51]
+        left_handThumbStart_joint = 53, // parent: left_hand_joint [52]
+        left_handThumb_1_joint = 54, // parent: left_handThumbStart_joint [53]
+        left_handThumb_2_joint = 55, // parent: left_handThumb_1_joint [54]
+        left_handThumbEnd_joint = 56, // parent: left_handThumb_2_joint [55]
+        left_handIndexStart_joint = 57, // parent: left_hand_joint [52]
+        left_handIndex_1_joint = 58, // parent: left_handIndexStart_joint [57]
+        left_handIndex_2_joint = 59, // parent: left_handIndex_1_joint [58]
+        left_handIndex_3_joint = 60, // parent: left_handIndex_2_joint [59]
+        left_handIndexEnd_joint = 61, // parent: left_handIndex_3_joint [60]
+        left_handMidStart_joint = 62, // parent: left_hand_joint [52]
+        left_handMid_1_joint = 63, // parent: left_handMidStart_joint [62]
+        left_handMid_2_joint = 64, // parent: left_handMid_1_joint [63]
+        left_handMid_3_joint = 65, // parent: left_handMid_2_joint [64]
+        left_handMidEnd_joint = 66, // parent: left_handMid_3_joint [65]
+        left_handRingStart_joint = 67, // parent: left_hand_joint [52]
+        left_handRing_1_joint = 68, // parent: left_handRingStart_joint [67]
+        left_handRing_2_joint = 69, // parent: left_handRing_1_joint [68]
+        left_handRing_3_joint = 70, // parent: left_handRing_2_joint [69]
+        left_handRingEnd_joint = 71, // parent: left_handRing_3_joint [70]
+        left_handPinkyStart_joint = 72, // parent: left_hand_joint [52]
+        left_handPinky_1_joint = 73, // parent: left_handPinkyStart_joint [72]
+        left_handPinky_2_joint = 74, // parent: left_handPinky_1_joint [73]
+        left_handPinky_3_joint = 75, // parent: left_handPinky_2_joint [74]
+        left_handPinkyEnd_joint = 76, // parent: left_handPinky_3_joint [75]
+        neck_1_joint = 77, // parent: spine_7_joint [18]
+        neck_2_joint = 78, // parent: neck_1_joint [77]
+        neck_3_joint = 79, // parent: neck_2_joint [78]
+        neck_4_joint = 80, // parent: neck_3_joint [79]
+        head_joint = 81, // parent: neck_4_joint [80]
+        jaw_joint = 82, // parent: head_joint [81]
+        chin_joint = 83, // parent: jaw_joint [82]
+        nose_joint = 84, // parent: head_joint [81]
+        right_eye_joint = 85, // parent: head_joint [81]
+        right_eyeUpperLid_joint = 86, // parent: right_eye_joint [85]
+        right_eyeLowerLid_joint = 87, // parent: right_eye_joint [85]
+        right_eyeBall_joint = 88, // parent: right_eye_joint [85]
+        left_eye_joint = 89, // parent: head_joint [81]
+        left_eyeUpperLid_joint = 90, // parent: left_eye_joint [89]
+        left_eyeLowerLid_joint = 91, // parent: left_eye_joint [89]
+        left_eyeBall_joint = 92, // parent: left_eye_joint [89]
+    }
+
+    [SerializeField]
+    [Tooltip("The ARHumanBodyManager which will produce frame events.")]
+    ARHumanBodyManager m_HumanBodyManager;
+
+     /// <summary>
+    /// Get or set the <c>ARHumanBodyManager</c>.
+    /// </summary>
+    public ARHumanBodyManager humanBodyManager
+    {
+        get { return m_HumanBodyManager; }
+        set { m_HumanBodyManager = value; }
+    }
+
+    [SerializeField]
+    GameObject m_HeadPrefab;
+
+    public GameObject headPrefab
+    {
+        get { return m_HeadPrefab; }
+        set { m_HeadPrefab = value; }
+    }
+
+    void OnEnable()
+    {
+        Debug.Assert(m_HumanBodyManager != null, "human body manager is required");
+        m_HumanBodyManager.humanBodiesChanged += OnHumanBodiesChanged;
+    }
+
+    void OnDisable()
+    {
+        Debug.Assert(m_HumanBodyManager != null, "human body manager is required");
+        m_HumanBodyManager.humanBodiesChanged -= OnHumanBodiesChanged;
+    }
+
+    void CreateOrUpdateHead(ARHumanBody arBody)
+    {
+        if (m_HeadPrefab == null)
+        {
+            Debug.Log("no prefab found");
+            return;
+        }
+
+        Transform rootTransform = arBody.transform;
+        if (rootTransform == null)
+        {
+            Debug.Log("no root transform found for ARHumanBody");
+            return;
+        }
+
+        Transform headTransform;
+        if (rootTransform.childCount <= 1)
+        {
+            GameObject go  = Instantiate(m_HeadPrefab, rootTransform);
+            headTransform = go.transform;
+        }
+        else
+        {
+            headTransform = rootTransform.GetChild(1);
+        }
+
+        XRHumanBodyJoint joint = arBody.joints[(int)JointIndices.head_joint];
+        headTransform.localScale = joint.anchorScale;
+        headTransform.localRotation = joint.anchorPose.rotation;
+        headTransform.localPosition = joint.anchorPose.position;
+    }
+
+    void OnHumanBodiesChanged(ARHumanBodiesChangedEventArgs eventArgs)
+    {
+        StringBuilder sb = new StringBuilder();
+
+        sb.Append("OnHumanBodiesChanged\n");
+
+        sb.AppendFormat("   added[{0}]:\n", eventArgs.added.Count);
+        foreach (var humanBody in eventArgs.added)
+        {
+            sb.AppendFormat("      human body: {0}\n", humanBody.ToString());
+            CreateOrUpdateHead(humanBody);
+        }
+
+        sb.AppendFormat("   updated[{0}]:\n", eventArgs.updated.Count);
+        foreach (var humanBody in eventArgs.updated)
+        {
+            sb.AppendFormat("      human body: {0}\n", humanBody.ToString());
+            CreateOrUpdateHead(humanBody);
+        }
+
+        sb.AppendFormat("   removed[{0}]:\n", eventArgs.removed.Count);
+        foreach (var humanBody in eventArgs.removed)
+        {
+            sb.AppendFormat("      human body: {0}\n", humanBody.ToString());
+        }
+
+        Debug.Log(sb.ToString());
+    }
+}

Assets/Scripts/TestHumanBodyTracking.cs.meta

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+  assetBundleVariant: 

Assets/Scenes/FaceTracking/DisplayFaceInfo.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+[RequireComponent(typeof(ARFaceManager))]
+public class DisplayFaceInfo : MonoBehaviour
+{
+    [SerializeField]
+    Text m_FaceInfoText;
+
+    public Text faceInfoText
+    {
+        get { return m_FaceInfoText; }
+        set { m_FaceInfoText = value; }
+    }
+
+    ARFaceManager m_FaceManager;
+
+    void Awake()
+    {
+        m_FaceManager = GetComponent<ARFaceManager>();
+    }
+
+    void Update()
+    {
+        if (m_FaceManager.subsystem != null && faceInfoText != null)
+        {
+            faceInfoText.text = $"Supported number of tracked faces: {m_FaceManager.supportedFaceCount}\n" +
+                                $"Max number of faces to track: {m_FaceManager.maximumFaceCount}\n" +
+                                $"Number of tracked faces: {m_FaceManager.trackables.count}";
+        }
+    }
+}

Assets/Scenes/FaceTracking/DisplayFaceInfo.cs.meta

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Assets/Scenes/FaceTracking/RearCameraWithFrontCameraFaceMesh.unity.meta

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Assets/Scenes/FaceTracking/ToggleManagers.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.XR.ARFoundation;
+
+public class ToggleManagers : MonoBehaviour
+{
+    [SerializeField]
+    public bool m_PlaneManager;
+
+    public bool planeManager
+    {
+        get { return m_PlaneManager; }
+        set { m_PlaneManager = value; }
+    }
+
+    [SerializeField]
+    public bool m_FaceManager;
+
+    public bool faceManager
+    {
+        get { return m_FaceManager; }
+        set { m_FaceManager = value; }
+    }
+
+    void ToggleComponent<T>() where T : MonoBehaviour
+    {
+        var behaviour = GetComponent<T>();
+        if (behaviour == null)
+            return;
+
+        behaviour.enabled = !behaviour.enabled;
+        var enabledText = behaviour.enabled ? "enabled" : "disabled";
+        Logger.Log($"{typeof(T).Name} {enabledText}");
+    }
+
+    void Update()
+    {
+        if (Input.touchCount < 1)
+            return;
+
+        var touch = Input.touches[0];
+        if (touch.phase == TouchPhase.Began)
+        {
+            if (planeManager)
+                ToggleComponent<ARPlaneManager>();
+
+            if (faceManager)
+                ToggleComponent<ARFaceManager>();
+        }
+    }
+}

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Assets/Scenes/ARCollaborationData/ARCollaborationDataExample.unity.meta

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Assets/Scenes/ARCollaborationData/ClientServerSelector.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using UnityEngine;
+using UnityEngine.UI;
+
+[RequireComponent(typeof(TCPClient))]
+[RequireComponent(typeof(TCPServer))]
+public class ClientServerSelector : MonoBehaviour
+{
+    [SerializeField]
+    Button m_JoinButton;
+
+    public Button joinButton
+    {
+        get { return m_JoinButton; }
+        set { m_JoinButton = value; }
+    }
+
+    [SerializeField]
+    Button m_HostButton;
+
+    public Button hostButton
+    {
+        get { return m_HostButton; }
+        set { m_HostButton = value; }
+    }
+
+    [SerializeField]
+    InputField m_IPAddressField;
+
+    public InputField ipAddressField
+    {
+        get { return m_IPAddressField; }
+        set { m_IPAddressField = value; }
+    }
+
+    public void Join()
+    {
+        var client = GetComponent<TCPClient>();
+        var ipAddress = m_IPAddressField.text;
+        try
+        {
+            File.WriteAllText(GetIPAddressPath(), ipAddress);
+        }
+        catch (Exception e)
+        {
+            Logger.Log($"Could not save IP address because {e.ToString()}");
+        }
+
+        client.serverIP = ipAddress;
+        client.enabled = true;
+        enabled = false;
+    }
+
+    public void Host()
+    {
+        GetComponent<TCPClient>().enabled = false;
+        GetComponent<TCPServer>().enabled = true;
+        enabled = false;
+    }
+
+    string GetIPAddressPath()
+    {
+        return Path.Combine(Application.persistentDataPath, "ipaddress.txt");
+    }
+
+    void OnEnable()
+    {
+        if (File.Exists(GetIPAddressPath()))
+        {
+            var storedIPAddress = File.ReadAllText(GetIPAddressPath());
+            if (storedIPAddress != null)
+            {
+                Logger.Log($"Found stored IP address {storedIPAddress}");
+                m_IPAddressField.text = storedIPAddress;
+            }
+            else
+            {
+                Logger.Log($"No IP address stored at {GetIPAddressPath()}");
+            }
+        }
+
+        if (m_JoinButton != null)
+            m_JoinButton.gameObject.SetActive(true);
+
+        if (m_HostButton != null)
+            m_HostButton.gameObject.SetActive(true);
+    }
+
+    void OnDisable()
+    {
+        if (m_JoinButton != null)
+            m_JoinButton.gameObject.SetActive(false);
+
+        if (m_HostButton != null)
+            m_HostButton.gameObject.SetActive(false);
+
+        if (m_IPAddressField != null)
+            m_IPAddressField.gameObject.SetActive(false);
+    }
+}

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Assets/Scenes/ARCollaborationData/CollaborationNetworkingIndicator.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Text;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class CollaborationNetworkingIndicator : MonoBehaviour
+{
+    [SerializeField]
+    Image m_IncomingDataImage;
+
+    public Image incomingDataImage
+    {
+        get { return m_IncomingDataImage; }
+        set { m_IncomingDataImage = value; }
+    }
+
+    [SerializeField]
+    Image m_OutgoingDataImage;
+
+    public Image outgoingDataImage
+    {
+        get { return m_OutgoingDataImage; }
+        set { m_OutgoingDataImage = value; }
+    }
+
+    [SerializeField]
+    Image m_HasCollaborationDataImage;
+
+    public Image hasCollaborationDataImage
+    {
+        get { return m_HasCollaborationDataImage; }
+        set { m_HasCollaborationDataImage = value; }
+    }
+
+    static bool s_IncomingDataReceived;
+
+    static bool s_OutgoingDataSent;
+
+    static bool s_HasCollaborationData;
+
+    void Update()
+    {
+        m_IncomingDataImage.color = s_IncomingDataReceived ? Color.green : Color.red;
+        m_OutgoingDataImage.color = s_OutgoingDataSent ? Color.green : Color.red;
+        m_HasCollaborationDataImage.color = s_HasCollaborationData ? Color.green : Color.red;
+
+        s_IncomingDataReceived = false;
+        s_OutgoingDataSent = false;
+        s_HasCollaborationData = false;
+    }
+
+    public static void NotifyIncomingDataReceived()
+    {
+        s_IncomingDataReceived = true;
+    }
+
+    public static void NotifyOutgoingDataSent()
+    {
+        s_OutgoingDataSent = true;
+    }
+
+    public static void NotifyHasCollaborationData()
+    {
+        s_HasCollaborationData = true;
+    }
+}

Assets/Scenes/ARCollaborationData/CollaborationNetworkingIndicator.cs.meta

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Assets/Scenes/ARCollaborationData/DisplayTrackingState.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+/// <summary>
+/// When relocalizing with ARCollaborationData or ARWorldMaps, the tracking state
+/// should change to TrackingState.Limited until the device has successfully
+/// relocalized to the new data. If it remains TrackingState.Tracking, then
+/// it is not working.
+/// </summary>
+[RequireComponent(typeof(ARSession))]
+public class DisplayTrackingState : MonoBehaviour
+{
+    [SerializeField]
+    Text m_Text;
+
+    public Text text
+    {
+        get { return m_Text; }
+        set { m_Text = value; }
+    }
+
+    ARSession m_Session;
+
+    void Start()
+    {
+        m_Session = GetComponent<ARSession>();
+    }
+
+    void Update()
+    {
+        if (text != null)
+        {
+            text.text = $"Session ID = {m_Session.subsystem.sessionId}\n" +
+                        $"Session state = {ARSession.state.ToString()}\n" +
+                        $"Tracking state = {m_Session.subsystem.trackingState}";
+        }
+    }
+}

Assets/Scenes/ARCollaborationData/DisplayTrackingState.cs.meta

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Assets/Scenes/ARCollaborationData/ReferencePointInfoManager.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+/// <summary>
+/// Displays information about each reference point including
+/// whether or not the reference point is local or remote.
+/// The reference point prefab is assumed to include a GameObject
+/// which can be colored to indicate which session created it.
+/// </summary>
+[RequireComponent(typeof(ARSessionOrigin))]
+[RequireComponent(typeof(ARReferencePointManager))]
+public class ReferencePointInfoManager : MonoBehaviour
+{
+    [SerializeField]
+    ARSession m_Session;
+
+    public ARSession session
+    {
+        get { return m_Session; }
+        set { m_Session = value; }
+    }
+
+    void OnEnable()
+    {
+        GetComponent<ARReferencePointManager>().referencePointsChanged += OnReferencePointsChanged;
+    }
+
+    void OnDisable()
+    {
+        GetComponent<ARReferencePointManager>().referencePointsChanged -= OnReferencePointsChanged;
+    }
+
+    void OnReferencePointsChanged(ARReferencePointsChangedEventArgs eventArgs)
+    {
+        foreach (var referencePoint in eventArgs.added)
+        {
+            UpdateReferencePoint(referencePoint);
+        }
+
+        foreach (var referencePoint in eventArgs.updated)
+        {
+            UpdateReferencePoint(referencePoint);
+        }
+    }
+
+    unsafe struct byte128
+    {
+        public fixed byte data[16];
+    }
+
+    void UpdateReferencePoint(ARReferencePoint referencePoint)
+    {
+        var canvas = referencePoint.GetComponentInChildren<Canvas>();
+        if (canvas == null)
+            return;
+
+        canvas.worldCamera = GetComponent<ARSessionOrigin>().camera;
+
+        var text = canvas.GetComponentInChildren<Text>();
+        if (text == null)
+            return;
+
+        var sessionId = referencePoint.sessionId;
+        if (sessionId.Equals(session.subsystem.sessionId))
+        {
+            text.text = $"Local";
+        }
+        else
+        {
+            text.text = $"Remote";
+        }
+
+        var cube = referencePoint.transform.Find("Scale/SessionId Indicator");
+        if (cube != null)
+        {
+            var renderer = cube.GetComponent<Renderer>();
+            {
+                // Generate a color from the sessionId
+                Color color;
+                unsafe
+                {
+                    var bytes = *(byte128*)&sessionId;
+                    color = new Color(
+                        bytes.data[0] / 255f,
+                        bytes.data[4] / 255f,
+                        bytes.data[8] / 255f,
+                        bytes.data[12] / 255f);
+                }
+                renderer.material.color = color;
+            }
+        }
+    }
+}

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Assets/Scenes/ARCollaborationData/ReferencePointWithDebugText.prefab.meta

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Assets/Scenes/ARCollaborationData/TCPClient.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+
+[RequireComponent(typeof(ClientServerSelector))]
+public class TCPClient : TCPConnection
+{
+    string m_ServerIP;
+
+    public string serverIP
+    {
+        get { return m_ServerIP; }
+        set
+        {
+            if (enabled)
+                throw new InvalidOperationException("Cannot change server IP address while enabled.");
+
+            m_ServerIP = value;
+        }
+    }
+
+    public void Connect()
+    {
+        Logger.Log($"Connecting to {serverIP} on port {port}");
+
+        try
+        {
+            m_TcpClient = new TcpClient(serverIP, port);
+            Logger.Log("Connected!");
+        }
+        catch (SocketException e)
+        {
+            Logger.Log(e.Message);
+            enabled = false;
+            GetComponent<ClientServerSelector>().enabled = true;
+        }
+    }
+
+    protected override void OnEnable()
+    {
+        base.OnEnable();
+        Connect();
+    }
+}

Assets/Scenes/ARCollaborationData/TCPClient.cs.meta

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Assets/Scenes/ARCollaborationData/TCPConnection.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.IO;
+using System.Net;
+using System.Net.Sockets;
+using System.Runtime.InteropServices;
+using System.Threading;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.XR.ARFoundation;
+using UnityEngine.XR.ARSubsystems;
+#if UNITY_IOS
+using UnityEngine.XR.ARKit;
+#endif
+
+public abstract class TCPConnection : MonoBehaviour
+{
+    [SerializeField]
+    ARSession m_Session;
+
+    public ARSession session
+    {
+        get { return m_Session; }
+        set { m_Session = value; }
+    }
+
+    [SerializeField]
+    int m_Port = 8502;
+
+    public int port
+    {
+        get { return m_Port; }
+        set { m_Port = value; }
+    }
+
+    public bool connected
+    {
+        get
+        {
+            return
+                (m_TcpClient != null) &&
+                (m_TcpClient.Connected);
+        }
+    }
+
+    protected TcpClient m_TcpClient;
+
+    protected virtual void OnEnable()
+    {
+#if UNITY_IOS
+        if (ARKitSessionSubsystem.supportsCollaboration)
+        {
+            m_ExitRequested = false;
+        }
+        else
+#endif
+        {
+            Logger.Log("Collaboration is not supported by this device.");
+            enabled = false;
+        }
+    }
+
+    protected virtual void OnDisable()
+    {
+#if UNITY_IOS
+        // Shutdown running threads
+        m_ExitRequested = true;
+
+        if (m_ReadThread.IsAlive)
+            m_ReadThread.Join();
+
+        if (m_SendThread.IsAlive)
+            m_SendThread.Join();
+#endif
+
+        // Close down TCP connection
+        if (m_TcpClient != null)
+        {
+            m_TcpClient.Close();
+            Logger.Log("Connection closed");
+        }
+
+        m_TcpClient = null;
+    }
+
+    protected virtual void Update()
+    {
+#if UNITY_IOS
+        if (session == null)
+            return;
+
+        var subsystem = session.subsystem as ARKitSessionSubsystem;
+        if (subsystem == null)
+            return;
+
+        // Disable collaboration if we aren't connected to anyone
+        subsystem.collaborationEnabled = connected;
+
+        if (connected)
+        {
+            // Make sure threads are running
+            if (!m_ReadThread.IsAlive)
+                m_ReadThread.Start();
+            if (!m_SendThread.IsAlive)
+                m_SendThread.Start();
+
+            ProcessRemoteCollaborationData(subsystem);
+            CheckForLocalCollaborationData(subsystem);
+        }
+#endif
+    }
+
+#if UNITY_IOS
+    Queue<ARCollaborationData> m_CollaborationDataSendQueue;
+
+    Queue<ARCollaborationData> m_CollaborationDataReadQueue;
+
+    Thread m_ReadThread;
+
+    Thread m_SendThread;
+
+    bool m_ExitRequested;
+
+    void Awake()
+    {
+        m_CollaborationDataSendQueue = new Queue<ARCollaborationData>();
+        m_CollaborationDataReadQueue = new Queue<ARCollaborationData>();
+        m_ReadThread = new Thread(ReadThreadProc);
+        m_SendThread = new Thread(SendThreadProc);
+    }
+
+    void SendThreadProc()
+    {
+        var stream = m_TcpClient.GetStream();
+        while (!m_ExitRequested)
+        {
+            var collaborationData = new ARCollaborationData();
+            int queueSize = 0;
+            lock (m_CollaborationDataSendQueue)
+            {
+                if (m_CollaborationDataSendQueue.Count > 0)
+                {
+                    collaborationData = m_CollaborationDataSendQueue.Dequeue();
+                }
+                queueSize = m_CollaborationDataSendQueue.Count;
+            }
+
+            if (collaborationData.valid)
+            {
+                // Serialize the collaboration data to a byte array
+                SerializedARCollaborationData serializedData;
+                using (collaborationData)
+                {
+                    // ARCollaborationData can be diposed after being serialized to bytes.
+                    serializedData = collaborationData.ToSerialized();
+                }
+
+                using (serializedData)
+                {
+                    // Get the raw data as a NativeSlice
+                    var collaborationBytes = serializedData.bytes;
+
+                    // Construct the message header
+                    var header = new MessageHeader
+                    {
+                        messageSize = collaborationBytes.Length,
+                        messageType = MessageType.CollaborationData
+                    };
+
+                    // Send the header followed by the ARCollaborationData bytes
+                    m_WriteBuffer.Send(stream, header);
+                    m_WriteBuffer.Send(stream, collaborationBytes);
+                    Logger.Log($"Sent {collaborationBytes.Length} bytes of collaboration data.");
+                }
+            }
+
+            if (queueSize == 0)
+            {
+                // If there's nothing else in the queue at the moment,
+                // then go to sleep for a bit.
+                // Otherwise, immediately try to send the next one.
+                Thread.Sleep(1);
+            }
+        }
+    }
+
+    unsafe void ReadThreadProc()
+    {
+        var stream = m_TcpClient.GetStream();
+        while (!m_ExitRequested)
+        {
+            // Loop until there is data available
+            if (!stream.DataAvailable)
+            {
+                Thread.Sleep(1);
+                continue;
+            }
+
+            // Read the header
+            var messageHeader = ReadMessageHeader(stream);
+
+            // Handle the message
+            switch (messageHeader.messageType)
+            {
+                case MessageType.CollaborationData:
+                    var collaborationData = ReadCollaborationData(stream, messageHeader.messageSize);
+                    if (collaborationData.valid)
+                    {
+                        // Only store critical data updates; optional updates can come every frame.
+                        if (collaborationData.priority == ARCollaborationDataPriority.Critical)
+                        {
+                            lock (m_CollaborationDataReadQueue)
+                            {
+                                m_CollaborationDataReadQueue.Enqueue(collaborationData);
+                            }
+                            Logger.Log($"Received {messageHeader.messageSize} bytes of collaboration data.");
+                        }
+                    }
+                    else
+                    {
+                        Logger.Log($"Received {messageHeader.messageSize} bytes from remote, but the collaboration data was not valid.");
+                    }
+                    break;
+
+                default:
+                    Logger.Log($"Unhandled message type '{messageHeader.messageType}'. Ignoring.");
+
+                    // We don't understand this message, but read it out anyway
+                    // so we can process the next message
+                    int bytesRemaining = messageHeader.messageSize;
+                    while (bytesRemaining > 0)
+                    {
+                        bytesRemaining -= m_ReadBuffer.Read(stream, 0, Mathf.Min(bytesRemaining, m_ReadBuffer.bufferSize));
+                    }
+                    break;
+            }
+        }
+    }
+
+    void CheckForLocalCollaborationData(ARKitSessionSubsystem subsystem)
+    {
+        // Exit if no new data is available
+        if (subsystem.collaborationDataCount == 0)
+            return;
+
+        lock (m_CollaborationDataSendQueue)
+        {
+            // Enqueue all new collaboration data with critical priority
+            while (subsystem.collaborationDataCount > 0)
+            {
+                var collaborationData = subsystem.DequeueCollaborationData();
+
+                // As all data in this sample is sent over TCP, only send critical data
+                if (collaborationData.priority == ARCollaborationDataPriority.Critical)
+                {
+                    m_CollaborationDataSendQueue.Enqueue(collaborationData);
+                    CollaborationNetworkingIndicator.NotifyHasCollaborationData();
+                }
+            }
+        }
+    }
+
+    unsafe void ProcessRemoteCollaborationData(ARKitSessionSubsystem subsystem)
+    {
+        // Check for remote data and apply it
+        lock (m_CollaborationDataReadQueue)
+        {
+            while (m_CollaborationDataReadQueue.Count > 0)
+            {
+                using (var collaborationData = m_CollaborationDataReadQueue.Dequeue())
+                {
+                    // Assume we only put in valid collaboration data into the queue.
+                    subsystem.UpdateWithCollaborationData(collaborationData);
+                }
+            }
+        }
+    }
+
+    const int k_BufferSize = 10240;
+
+    NetworkBuffer m_ReadBuffer = new NetworkBuffer(k_BufferSize);
+
+    NetworkBuffer m_WriteBuffer = new NetworkBuffer(k_BufferSize);
+
+    MessageHeader ReadMessageHeader(NetworkStream stream)
+    {
+        int bytesRead = m_ReadBuffer.Read(stream, 0, MessageHeader.k_EncodedSize);
+        return new MessageHeader(m_ReadBuffer.buffer, bytesRead);
+    }
+
+    ARCollaborationData ReadCollaborationData(NetworkStream stream, int size)
+    {
+        var builder = new ARCollaborationDataBuilder();
+        try
+        {
+            int bytesRemaining = size;
+            while (bytesRemaining > 0)
+            {
+                int bytesRead = m_ReadBuffer.Read(stream, 0, Mathf.Min(bytesRemaining, m_ReadBuffer.bufferSize));
+                builder.Append(m_ReadBuffer.buffer, 0, bytesRead);
+                bytesRemaining -= bytesRead;
+            }
+
+            return builder.ToCollaborationData();
+        }
+        finally
+        {
+            builder.Dispose();
+        }
+    }
+#endif
+}

Assets/Scenes/ARCollaborationData/TCPConnection.cs.meta

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Assets/Scenes/ARCollaborationData/TCPServer.cs

+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Net;
+using System.Net.Sockets;
+using System.Text;
+using System.Threading;
+using UnityEngine;
+using Unity.Collections;
+
+public class TCPServer : TCPConnection
+{
+    TcpListener m_TcpListener;
+
+    protected override void OnEnable()
+    {
+        base.OnEnable();
+
+        m_TcpListener = new TcpListener(IPAddress.Any, port);
+        m_TcpListener.Start();
+        Logger.Log($"Listening for connection on port {port}...");
+    }
+
+    protected override void Update()
+    {
+        if (m_TcpClient == null && m_TcpListener.Pending())
+        {
+            Logger.Log("Connection pending...");
+            m_TcpClient = m_TcpListener.AcceptTcpClient();
+            Logger.Log($"Connection established. {((IPEndPoint)m_TcpClient.Client.RemoteEndPoint).Address}");
+        }
+
+        base.Update();
+    }
+
+    protected override void OnDisable()
+    {
+        base.OnDisable();
+
+        m_TcpListener.Stop();
+        m_TcpListener = null;
+    }
+}

Assets/Scenes/ARCollaborationData/TCPServer.cs.meta

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Assets/Scenes/ARCollaborationData/IMessage.cs

+public interface IMessage
+{
+    int EncodeTo(byte[] bytes);
+}

Assets/Scenes/ARCollaborationData/IMessage.cs.meta

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Assets/Scenes/ARCollaborationData/MessageHeader.cs

+public struct MessageHeader : IMessage
+{
+    public int messageSize;
+
+    public MessageType messageType;
+
+    public int EncodeTo(byte[] bytes)
+    {
+        var encoder = new NetworkDataEncoder(bytes);
+        encoder.Encode(messageSize);
+        encoder.Encode((byte)messageType);
+        return encoder.length;
+    }
+
+    public const int k_EncodedSize = sizeof(int) + sizeof(byte);
+
+    public MessageHeader(byte[] bytes, int size)
+    {
+        var decoder = new NetworkDataDecoder(bytes, size);
+        messageSize = decoder.DecodeInt();
+        messageType = (MessageType)decoder.DecodeByte();
+    }
+}

Assets/Scenes/ARCollaborationData/MessageHeader.cs.meta

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Assets/Scenes/ARCollaborationData/MessageType.cs

+public enum MessageType : byte
+{
+    None,
+
+    CollaborationData
+}

Assets/Scenes/ARCollaborationData/MessageType.cs.meta

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Assets/Scenes/ARCollaborationData/NetworkBuffer.cs

+using System;
+using System.Net.Sockets;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+
+/// <summary>
+/// Sends and receives data using a fixed size byte[] buffer. Because the
+/// buffer is reused, no additional GC allocations are made after construction.
+/// </summary>
+public struct NetworkBuffer
+{
+    byte[] m_Buffer;
+
+    public NetworkBuffer(int bufferSize)
+    {
+        m_Buffer = new byte[bufferSize];
+    }
+
+    public byte[] buffer => m_Buffer;
+
+    public int bufferSize => (m_Buffer == null) ? 0 : m_Buffer.Length;
+
+    public int Read(NetworkStream stream, int offset, int size)
+    {
+        ValidateAndThrow(stream);
+
+        if (offset < 0)
+            throw new ArgumentOutOfRangeException(nameof(offset), offset, $"{nameof(offset)} must be greater than or equal to zero.");
+
+        if (size < 0)
+            throw new ArgumentOutOfRangeException(nameof(size), size, $"{nameof(size)} must be greater than or equal to zero.");
+
+        if (offset + size > m_Buffer.Length)
+            throw new InvalidOperationException($"Reading {size} bytes starting at offset {offset} would read past the end of the buffer (buffer length = {m_Buffer.Length}).");
+
+        int bytesRemaining = size;
+        while (bytesRemaining > 0)
+        {
+            int bytesRead = stream.Read(m_Buffer, offset, bytesRemaining);
+            CollaborationNetworkingIndicator.NotifyIncomingDataReceived();
+            offset += bytesRead;
+            bytesRemaining -= bytesRead;
+        }
+
+        return size;
+    }
+
+    public void Send(NetworkStream stream, int offset, int size)
+    {
+        ValidateAndThrow(stream);
+
+        if (offset + size > m_Buffer.Length)
+            throw new InvalidOperationException($"Writing {size} bytes starting at offset {offset} would write past the end of the buffer (buffer length = {m_Buffer.Length}).");
+
+        try
+        {
+            stream.Write(m_Buffer, offset, size);
+            CollaborationNetworkingIndicator.NotifyOutgoingDataSent();
+        }
+        catch (SocketException socketException)
+        {
+            Logger.Log($"Socket exception: {socketException}");
+        }
+    }
+
+    public unsafe void Send(NetworkStream stream, NativeSlice<byte> bytes)
+    {
+        ValidateAndThrow(stream);
+
+        var basePtr = new IntPtr(bytes.GetUnsafeReadOnlyPtr());
+        int bytesRemaining = bytes.Length;
+        int offset = 0;
+
+        while (bytesRemaining > 0)
+        {
+            // Memcpy next chunk into destinationBuffer
+            int size = Mathf.Min(m_Buffer.Length, bytesRemaining);
+            fixed(byte* dst = m_Buffer)
+            {
+                var src = basePtr + offset;
+                UnsafeUtility.MemCpy(dst, (void*)src, size);
+            }
+
+            bytesRemaining -= size;
+            offset += size;
+
+            Send(stream, 0, size);
+        }
+    }
+
+    public void Send<T>(NetworkStream stream, T message) where T : struct, IMessage
+    {
+        ValidateAndThrow(stream);
+
+        int size = message.EncodeTo(m_Buffer);
+        Send(stream, 0, size);
+    }
+
+    void ValidateAndThrow(NetworkStream stream)
+    {
+        if (stream == null)
+            throw new ArgumentNullException(nameof(stream));
+
+        if (m_Buffer == null)
+            throw new InvalidOperationException($"{nameof(NetworkBuffer)} has not been initialized.");
+    }
+}

Assets/Scenes/ARCollaborationData/NetworkBuffer.cs.meta

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Assets/Scenes/ARCollaborationData/NetworkDataDecoder.cs

+using System;
+using System.Net;
+
+public struct NetworkDataDecoder
+{
+    byte[] m_Buffer;
+
+    int m_Offset;
+
+    int m_Length;
+
+    public NetworkDataDecoder(byte[] buffer, int size)
+    {
+        if (buffer == null)
+            throw new ArgumentNullException(nameof(buffer));
+
+        if (size > buffer.Length)
+            throw new ArgumentOutOfRangeException(nameof(size), size, $"'{nameof(size)}' is greater than the length of {nameof(buffer)} ({buffer.Length}).");
+
+        m_Buffer = buffer;
+        m_Offset = 0;
+        m_Length = size;
+    }
+
+    public unsafe float DecodeFloat()
+    {
+        var value = DecodeInt();
+        return *(float*)&value;
+    }
+
+    public unsafe double DecodeDouble()
+    {
+        var value = DecodeLong();
+        return *(double*)&value;
+    }
+
+    public ushort DecodeUShort() => (ushort)DecodeShort();
+
+    public uint DecodeUInt() => (uint)DecodeInt();
+
+    public ulong DecodeULong() => (ulong)DecodeLong();
+
+    public byte DecodeByte()
+    {
+        if (m_Offset >= m_Length)
+            throw new InvalidOperationException("Buffer is exhausted. Cannot decode more data.");
+
+        return m_Buffer[m_Offset++];
+    }
+
+    public unsafe short DecodeShort()
+    {
+        if (m_Offset + 2 > m_Length)
+            throw new InvalidOperationException("Buffer is exhausted. Cannot decode more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            m_Offset += 2;
+            return IPAddress.NetworkToHostOrder(*(short*)ptr);
+        }
+    }
+
+    public unsafe int DecodeInt()
+    {
+        if (m_Offset + 4 > m_Length)
+            throw new InvalidOperationException("Buffer is exhausted. Cannot decode more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            m_Offset += 4;
+            return IPAddress.NetworkToHostOrder(*(int*)ptr);
+        }
+    }
+
+    public unsafe long DecodeLong()
+    {
+        if (m_Offset + 8 > m_Length)
+            throw new InvalidOperationException("Buffer is exhausted. Cannot decode more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            m_Offset += 8;
+            return IPAddress.NetworkToHostOrder(*(long*)ptr);
+        }
+    }
+}

Assets/Scenes/ARCollaborationData/NetworkDataDecoder.cs.meta

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Assets/Scenes/ARCollaborationData/NetworkDataEncoder.cs

+using System;
+using System.Net;
+
+public struct NetworkDataEncoder
+{
+    byte[] m_Buffer;
+
+    int m_Offset;
+
+    public NetworkDataEncoder(byte[] buffer)
+    {
+        if (buffer == null)
+            throw new ArgumentNullException(nameof(buffer));
+
+        m_Buffer = buffer;
+        m_Offset = 0;
+    }
+
+    public int length => m_Offset;
+
+    public unsafe void Encode(float value) => Encode(*(int*)&value);
+
+    public unsafe void Encode(double value) => Encode(*(long*)&value);
+
+    public void Encode(ushort value) => Encode((short)value);
+
+    public void Encode(uint value) => Encode((int)value);
+
+    public void Encode(ulong value) => Encode((long)value);
+
+    public void Encode(byte value)
+    {
+        if (m_Offset + 1 > m_Buffer.Length)
+            throw new InvalidOperationException("Buffer is full. Cannot write more data.");
+
+        m_Buffer[m_Offset++] = value;
+    }
+
+    public unsafe void Encode(short value)
+    {
+        int newOffset = m_Offset + 2;
+        if (newOffset > m_Buffer.Length)
+            throw new InvalidOperationException("Buffer is full. Cannot write more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            *(short*)ptr = IPAddress.HostToNetworkOrder(value);
+        }
+        m_Offset = newOffset;
+    }
+
+    public unsafe void Encode(int value)
+    {
+        int newOffset = m_Offset + 4;
+        if (newOffset > m_Buffer.Length)
+            throw new InvalidOperationException("Buffer is full. Cannot write more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            *(int*)ptr = IPAddress.HostToNetworkOrder(value);
+        }
+        m_Offset = newOffset;
+    }
+
+    public unsafe void Encode(long value)
+    {
+        int newOffset = m_Offset + 8;
+        if (newOffset > m_Buffer.Length)
+            throw new InvalidOperationException("Buffer is full. Cannot write more data.");
+
+        fixed(byte* ptr = &m_Buffer[m_Offset])
+        {
+            *(long*)ptr = IPAddress.HostToNetworkOrder(value);
+        }
+        m_Offset = newOffset;
+    }
+}

Assets/Scenes/ARCollaborationData/NetworkDataEncoder.cs.meta

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Assets/Scripts/SetTargetFramerate.cs

-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-
-/// <summary>
-/// Simple MonoBehaviour to set the Application's targetFrameRate
-/// </summary>
-public class SetTargetFramerate : MonoBehaviour
-{
-    [SerializeField]
-    [Tooltip("Sets the application's target frame rate.")]
-    int m_TargetFrameRate = 60;
-
-    /// <summary>
-    /// Get or set the application's target frame rate.
-    /// </summary>
-    public int targetFrameRate
-    {
-        get { return m_TargetFrameRate; }
-        set
-        {
-            m_TargetFrameRate = value;
-            SetFrameRate();
-        }
-    }
-
-    void SetFrameRate()
-    {
-        Application.targetFrameRate = targetFrameRate;
-    }
-
-    void Start()
-    {
-        SetFrameRate();
-    }
-}

Assets/Scripts/SetTargetFramerate.cs.meta

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