diff --git a/Changelog.md b/Changelog.md
new file mode 100644
index 0000000..fbe1f37
--- /dev/null
+++ b/Changelog.md
@@ -0,0 +1,9 @@
+## 1.0.2
++ Refactoted `MLXRCpuDepthFeature.ViewportToWorldPoint` method to `Unproject`.
++ Upgraded to NatML 1.1.5.
+
+## 1.0.1
++ Upgraded to NatML 1.1.0.
+
+## 1.0.0
++ First release.
\ No newline at end of file
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diff --git a/LICENSE.md b/LICENSE.md
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--- /dev/null
+++ b/LICENSE.md
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+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
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\ No newline at end of file
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+
+
+
+
+ BuildMachineOSBuild
+ 21E258
+ CFBundleDevelopmentRegion
+ en
+ CFBundleExecutable
+ NatMLARFoundation
+ CFBundleIdentifier
+ ai.natml.natml.arfoundation
+ CFBundleInfoDictionaryVersion
+ 6.0
+ CFBundleName
+ NatMLARFoundation
+ CFBundlePackageType
+ BNDL
+ CFBundleShortVersionString
+ 1.0
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+
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+
+ CFBundleVersion
+ 1
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+
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diff --git a/README.md b/README.md
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index 0000000..3aa0f11
--- /dev/null
+++ b/README.md
@@ -0,0 +1,34 @@
+# NatML for ARFoundation
+
+![NatML](https://raw.githubusercontent.com/natmlx/.github/main/natml.png)
+
+NatML integration library for Unity ARFoundation.
+
+## Installing NatML ARFoundation
+Add the following items to your Unity project's `Packages/manifest.json`:
+```json
+{
+ "scopedRegistries": [
+ {
+ "name": "NatML",
+ "url": "https://registry.npmjs.com",
+ "scopes": ["ai.natml"]
+ }
+ ],
+ "dependencies": {
+ "ai.natml.natml.arfoundation": "1.0.2"
+ }
+}
+```
+
+## Requirements
+- Unity 2021.2+
+- [ARFoundation 4.1+](https://docs.unity3d.com/Packages/com.unity.xr.arfoundation@4.1/manual/index.html)
+
+## Resources
+- Join the [NatML community on Discord](https://natml.ai/community).
+- See the [NatML documentation](https://docs.natml.ai/natml).
+- See more [NatML projects on GitHub](https://github.com/natmlx).
+- Contact us at [hi@natml.ai](mailto:hi@natml.ai).
+
+Thank you very much!
\ No newline at end of file
diff --git a/README.md.meta b/README.md.meta
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diff --git a/Runtime/Features.meta b/Runtime/Features.meta
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diff --git a/Runtime/Features/MLXRCpuDepthFeature.cs b/Runtime/Features/MLXRCpuDepthFeature.cs
new file mode 100644
index 0000000..e76166b
--- /dev/null
+++ b/Runtime/Features/MLXRCpuDepthFeature.cs
@@ -0,0 +1,112 @@
+/*
+* NatML ARFoundation
+* Copyright © 2023 NatML Inc. All rights reserved.
+*/
+
+namespace NatML.Features {
+
+ using System;
+ using System.Runtime.CompilerServices;
+ using UnityEngine;
+ using UnityEngine.XR.ARSubsystems;
+ using Types;
+ using Unity.Collections.LowLevel.Unsafe;
+ using static Unity.Mathematics.math;
+ using Format = UnityEngine.XR.ARSubsystems.XRCpuImage.Format;
+
+ ///
+ /// ML augmented reality depth feature.
+ /// This feature cannot be used directly for inference.
+ /// Instead, it is used by predictors that require depth data for their computations.
+ ///
+ public sealed class MLXRCpuDepthFeature : MLDepthFeature {
+
+ #region --Client API--
+ ///
+ /// Create an AR depth image feature.
+ ///
+ /// Augmented reality image.
+ /// AR session camera.
+ /// Image orientation. If `Unknown`, this will default to the screen orientation.
+ public MLXRCpuDepthFeature (
+ XRCpuImage image,
+ Camera camera,
+ ScreenOrientation orientation = 0
+ ) : base(GetType(image, orientation)) {
+ if (image.format != Format.DepthUint16 && image.format != Format.DepthFloat32)
+ throw new ArgumentException($"AR depth image has invalid format: {image.format}", nameof(image));
+ this.image = image;
+ this.camera = camera;
+ this.orientation = orientation;
+ this.rotation = GetRotation(orientation);
+ }
+
+ ///
+ /// Sample the depth feature at a given point.
+ /// If the point is out of bounds, `-1` is returned.
+ ///
+ /// Point to sample in normalized viewport coordinates.
+ /// Depth in meters.
+ public override float Sample (Vector2 point) {
+ var s = float2(image.width, image.height); // use unoriented size
+ var uv = float2(point.x, point.y);
+ var t = Mathf.Deg2Rad * rotation;
+ var T = mul(float2x2(cos(t), -sin(t), sin(t), cos(t)), float2x2(1f, 0f, 0f, -1f));
+ var uv_r = mul(T, uv - 0.5f) + 0.5f;
+ var xy = int2(uv_r * s);
+ if (xy.x < 0 || xy.x >= image.width || xy.y < 0 || xy.y >= image.height)
+ return -1;
+ switch (image.format) {
+ case Format.DepthFloat32: return Sample(xy.x, xy.y);
+ case Format.DepthUint16: return 0.001f * Sample(xy.x, xy.y);
+ default: throw new InvalidOperationException($"Cannot sample depth because image has invalid format: {image.format}");
+ }
+ }
+
+ ///
+ /// Unproject a 2D point into 3D space using depth.
+ ///
+ /// Point to transform in normalized viewport coordinates.
+ /// Projected point in 3D space.
+ public override Vector3 Unproject (Vector2 point) { // CHECK // Camera aspect scaling
+ var depth = Sample(point);
+ var viewport = new Vector3(point.x, point.y, depth);
+ var world = camera.ViewportToWorldPoint(viewport);
+ return world;
+ }
+ #endregion
+
+
+ #region --Operations--
+ private readonly XRCpuImage image;
+ private readonly Camera camera;
+ private readonly ScreenOrientation orientation;
+ private readonly float rotation;
+
+ [MethodImpl(MethodImplOptions.AggressiveInlining)]
+ private unsafe T Sample (int x, int y) where T : unmanaged {
+ var plane = image.GetPlane(0);
+ var idx = y * plane.rowStride + x * plane.pixelStride;
+ var data = (byte*)plane.data.GetUnsafeReadOnlyPtr();
+ var sample = *(T*)&data[idx];
+ return sample;
+ }
+
+ private static float GetRotation (ScreenOrientation orientation) => orientation switch {
+ ScreenOrientation.LandscapeLeft => 0f,
+ ScreenOrientation.Portrait => -90f,
+ ScreenOrientation.LandscapeRight => -180f,
+ ScreenOrientation.PortraitUpsideDown => -270f,
+ _ => 0f,
+ };
+
+ private static MLImageType GetType (XRCpuImage image, ScreenOrientation orientation) {
+ orientation = orientation != 0 ? orientation : Screen.orientation;
+ var portrait = orientation == ScreenOrientation.Portrait || orientation == ScreenOrientation.PortraitUpsideDown;
+ var width = portrait ? image.height : image.width;
+ var height = portrait ? image.width : image.height;
+ return new MLImageType(width, height, 1);
+ }
+ #endregion
+ }
+}
\ No newline at end of file
diff --git a/Runtime/Features/MLXRCpuDepthFeature.cs.meta b/Runtime/Features/MLXRCpuDepthFeature.cs.meta
new file mode 100644
index 0000000..ece0157
--- /dev/null
+++ b/Runtime/Features/MLXRCpuDepthFeature.cs.meta
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diff --git a/Runtime/Features/MLXRExtensions.cs b/Runtime/Features/MLXRExtensions.cs
new file mode 100644
index 0000000..5e92688
--- /dev/null
+++ b/Runtime/Features/MLXRExtensions.cs
@@ -0,0 +1,113 @@
+/*
+* NatML ARFoundation
+* Copyright © 2023 NatML Inc. All rights reserved.
+*/
+
+namespace NatML.Features {
+
+ using System;
+ using UnityEngine;
+ using UnityEngine.XR.ARSubsystems;
+ using Unity.Collections.LowLevel.Unsafe;
+ using Internal;
+ using Types;
+ using Format = UnityEngine.XR.ARSubsystems.XRCpuImage.Format;
+
+ ///
+ ///
+ public static class MLXRExtensions {
+
+ #region --Client API--
+ ///
+ /// Copy image data from an ARFoundation image.
+ ///
+ /// Image feature to copy data into.
+ /// AR image.
+ /// Whether AR image is from world-facing camera.
+ /// Image orientation. If `Unknown`, this will default to the screen orientation.
+ public static unsafe void CopyFrom (this MLImageFeature feature, XRCpuImage image, bool world = true, ScreenOrientation orientation = 0) {
+ // Check size // This implicitly checks whether the image is valid.
+ var (width, height) = image.GetFeatureSize(orientation);
+ if (feature.width != width || feature.height != height)
+ throw new ArgumentException($"Feature has incorrect size", nameof(image));
+ // Check format
+ if (image.format != Format.AndroidYuv420_888 && image.format != Format.IosYpCbCr420_8BiPlanarFullRange)
+ throw new ArgumentException($"AR image has invalid format: {image.format}", nameof(image));
+ // Populate data
+ var planes = stackalloc void*[image.planeCount];
+ var rows = stackalloc int[image.planeCount];
+ var pixels = stackalloc int[image.planeCount];
+ for (var i = 0; i < image.planeCount; ++i) {
+ var plane = image.GetPlane(i);
+ planes[i] = plane.data.GetUnsafeReadOnlyPtr();
+ rows[i] = plane.rowStride;
+ pixels[i] = plane.pixelStride;
+ }
+ // Copy
+ fixed (void* dst = feature)
+ NatMLARFoundation.CreateImageFeatureData(
+ planes,
+ image.planeCount,
+ image.width,
+ image.height,
+ rows,
+ pixels,
+ (int)(orientation != 0 ? orientation : Screen.orientation),
+ world,
+ dst,
+ out var _,
+ out var _
+ );
+ }
+
+ ///
+ /// Get the ML feature type for a given AR image.
+ ///
+ /// AR image.
+ /// Image orientation. If `Unknown`, this will default to the screen orientation.
+ /// Feature type for image.
+ public static MLImageType GetFeatureType (this XRCpuImage image, ScreenOrientation orientation = 0) {
+ // Check valid
+ if (!image.valid)
+ throw new ArgumentException(@"AR image is invalid", nameof(image));
+ // Create type
+ var (width, height) = image.GetFeatureSize(orientation);
+ var type = image.GetFeatureType();
+ var result = new MLImageType(width, height, image.planeCount, type);
+ // Return
+ return result;
+ }
+ #endregion
+
+
+ #region --Operations--
+ ///
+ /// Get the image feature size for a given AR image.
+ /// Note that the image MUST be valid.
+ ///
+ /// AR image.
+ /// Image orientation. If `Unknown`, this will default to the screen orientation.
+ /// Image feature size.
+ private static (int width, int height) GetFeatureSize (this XRCpuImage image, ScreenOrientation orientation = 0) => (orientation != 0 ? orientation : Screen.orientation) switch {
+ ScreenOrientation.Portrait => (image.height, image.width),
+ ScreenOrientation.PortraitUpsideDown => (image.height, image.width),
+ _ => (image.width, image.height),
+ };
+
+ ///
+ /// Get the image feature data type for a given AR image.
+ /// Note that the image MUST be valid.
+ ///
+ /// AR image.
+ /// Image feature data type.
+ private static Type GetFeatureType (this XRCpuImage image) => image.format switch {
+ Format.AndroidYuv420_888 => typeof(byte),
+ Format.DepthFloat32 => typeof(float),
+ Format.DepthUint16 => typeof(ushort),
+ Format.IosYpCbCr420_8BiPlanarFullRange => typeof(byte),
+ Format.OneComponent8 => typeof(byte),
+ _ => null,
+ };
+ #endregion
+ }
+}
\ No newline at end of file
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diff --git a/Runtime/Internal.meta b/Runtime/Internal.meta
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diff --git a/Runtime/Internal/NatMLARFoundation.cs b/Runtime/Internal/NatMLARFoundation.cs
new file mode 100644
index 0000000..9cd7782
--- /dev/null
+++ b/Runtime/Internal/NatMLARFoundation.cs
@@ -0,0 +1,37 @@
+/*
+* NatML ARFoundation
+* Copyright © 2023 NatML Inc. All rights reserved.
+*/
+
+namespace NatML.Internal {
+
+ using System.Runtime.InteropServices;
+
+ public static class NatMLARFoundation {
+
+ public const string Assembly =
+ #if (UNITY_IOS || UNITY_WEBGL) && !UNITY_EDITOR
+ @"__Internal";
+ #else
+ @"NatMLARFoundation";
+ #endif
+
+
+ #region --NMLFeature--
+ [DllImport(Assembly, EntryPoint = @"NMLCreateARFoundationImageFeatureData")]
+ public static unsafe extern void CreateImageFeatureData (
+ void** planes,
+ int planeCount,
+ int width,
+ int height,
+ int* rows,
+ int* pixels,
+ int orientation,
+ bool world,
+ void* dstBuffer,
+ out int dstWidth,
+ out int dstHeight
+ );
+ #endregion
+ }
+}
\ No newline at end of file
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diff --git a/Runtime/NatML.ML.ARFoundation.asmdef b/Runtime/NatML.ML.ARFoundation.asmdef
new file mode 100644
index 0000000..d8f31cf
--- /dev/null
+++ b/Runtime/NatML.ML.ARFoundation.asmdef
@@ -0,0 +1,25 @@
+{
+ "name": "NatML.ML.ARFoundation",
+ "rootNamespace": "",
+ "references": [
+ "NatML.ML",
+ "Unity.XR.ARFoundation",
+ "Unity.XR.ARSubsystems",
+ "Unity.Mathematics"
+ ],
+ "includePlatforms": [
+ "Android",
+ "Editor",
+ "iOS",
+ "macOSStandalone",
+ "WindowsStandalone64"
+ ],
+ "excludePlatforms": [],
+ "allowUnsafeCode": true,
+ "overrideReferences": false,
+ "precompiledReferences": [],
+ "autoReferenced": true,
+ "defineConstraints": [],
+ "versionDefines": [],
+ "noEngineReferences": false
+}
\ No newline at end of file
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diff --git a/package.json b/package.json
new file mode 100644
index 0000000..32bdf6c
--- /dev/null
+++ b/package.json
@@ -0,0 +1,40 @@
+{
+ "name": "ai.natml.natml.arfoundation",
+ "version": "1.0.2",
+ "displayName": "NatML ARFoundation",
+ "description": "Unity ARFoundation support library for NatML.",
+ "unity": "2021.2",
+ "dependencies": {
+ "ai.natml.natml": "1.1.5",
+ "com.unity.mathematics": "1.2.1",
+ "com.unity.xr.arfoundation": "4.1.7"
+ },
+ "keywords": [
+ "natml",
+ "machine learning",
+ "ml",
+ "aritificial intelligence",
+ "ai",
+ "computer vision",
+ "opencv",
+ "android",
+ "ios",
+ "macos",
+ "windows",
+ "coreml",
+ "nnapi",
+ "directml",
+ "tensorflow",
+ "pytorch",
+ "torch",
+ "natdevice",
+ "natcorder"
+ ],
+ "author": {
+ "name": "NatML",
+ "email": "hi@natml.ai",
+ "url": "https://github.com/natmlx"
+ },
+ "license": "Apache-2.0",
+ "repository": "github:natmlx/natml-arfoundation"
+}
\ No newline at end of file
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