added unity project

UnityProjects/ros2hololens/.gitignore

@@ -0,0 +1,74 @@
+# This .gitignore file should be placed at the root of your Unity project directory
+#
+# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore
+#
+/[Ll]ibrary/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/s
+/[Bb]uilds/
+/[Ll]ogs/
+/[Uu]ser[Ss]ettings/
+
+# MemoryCaptures can get excessive in size.
+# They also could contain extremely sensitive data
+/[Mm]emoryCaptures/
+
+# Recordings can get excessive in size
+/[Rr]ecordings/
+
+# Uncomment this line if you wish to ignore the asset store tools plugin
+# /[Aa]ssets/AssetStoreTools*
+
+# Autogenerated Jetbrains Rider plugin
+/[Aa]ssets/Plugins/Editor/JetBrains*
+
+# Visual Studio cache directory
+.vs/
+
+# Gradle cache directory
+.gradle/
+
+# Autogenerated VS/MD/Consulo solution and project files
+ExportedObj/
+.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+*.mdb
+*.opendb
+*.VC.db
+
+# Unity3D generated meta files
+*.pidb.meta
+*.pdb.meta
+*.mdb.meta
+
+# Unity3D generated file on crash reports
+sysinfo.txt
+
+# Builds
+*.apk
+*.aab
+*.unitypackage
+*.app
+
+# Crashlytics generated file
+crashlytics-build.properties
+
+# Packed Addressables
+/[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin*
+
+# Temporary auto-generated Android Assets
+/[Aa]ssets/[Ss]treamingAssets/aa.meta
+/[Aa]ssets/[Ss]treamingAssets/aa/*
+
+/[Aa]pp

UnityProjects/ros2hololens/.vscode/settings.json

@@ -0,0 +1,55 @@
+{
+    "files.exclude":
+    {
+        "**/.DS_Store":true,
+        "**/.git":true,
+        "**/.gitmodules":true,
+        "**/*.booproj":true,
+        "**/*.pidb":true,
+        "**/*.suo":true,
+        "**/*.user":true,
+        "**/*.userprefs":true,
+        "**/*.unityproj":true,
+        "**/*.dll":true,
+        "**/*.exe":true,
+        "**/*.pdf":true,
+        "**/*.mid":true,
+        "**/*.midi":true,
+        "**/*.wav":true,
+        "**/*.gif":true,
+        "**/*.ico":true,
+        "**/*.jpg":true,
+        "**/*.jpeg":true,
+        "**/*.png":true,
+        "**/*.psd":true,
+        "**/*.tga":true,
+        "**/*.tif":true,
+        "**/*.tiff":true,
+        "**/*.3ds":true,
+        "**/*.3DS":true,
+        "**/*.fbx":true,
+        "**/*.FBX":true,
+        "**/*.lxo":true,
+        "**/*.LXO":true,
+        "**/*.ma":true,
+        "**/*.MA":true,
+        "**/*.obj":true,
+        "**/*.OBJ":true,
+        "**/*.asset":true,
+        "**/*.cubemap":true,
+        "**/*.flare":true,
+        "**/*.mat":true,
+        "**/*.meta":true,
+        "**/*.prefab":true,
+        "**/*.unity":true,
+        "build/":true,
+        "Build/":true,
+        "Library/":true,
+        "library/":true,
+        "obj/":true,
+        "Obj/":true,
+        "ProjectSettings/":true,
+        "temp/":true,
+        "Temp/":true
+    }
+}

UnityProjects/ros2hololens/Assets/AzureSpatialAnchors.SDK/Resources/SpatialAnchorConfig.asset

@@ -0,0 +1,20 @@
+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 0}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 45b0089a7785abf4f908eb77852f8a71, type: 3}
+  m_Name: SpatialAnchorConfig
+  m_EditorClassIdentifier: 
+  authenticationMode: 0
+  spatialAnchorsAccountId: 
+  spatialAnchorsAccountKey: 
+  spatialAnchorsAccountDomain: 
+  clientId: 
+  tenantId: 

UnityProjects/ros2hololens/Assets/MRTK/Shaders/ChannelPacker.shader

@@ -0,0 +1,104 @@
+// Copyright (c) Microsoft Corporation.
+// Licensed under the MIT License.
+
+// NOTE: MRTK Shaders are versioned via the MRTK.Shaders.sentinel file.
+// When making changes to any shader's source file, the value in the sentinel _must_ be incremented.
+
+Shader "Hidden/ChannelPacker"
+{
+    Properties
+    {
+        _MetallicMap("Metallic Map", 2D) = "black" {}
+        _MetallicMapChannel("Metallic Map Channel", Int) = 0 // Red.
+        _MetallicUniform("Metallic Uniform", Float) = -0.01
+        _OcclusionMap("Occlusion Map", 2D) = "white" {}
+        _OcclusionMapChannel("Occlusion Map Channel", Int) = 1 // Green.
+        _OcclusionUniform("Occlusion Uniform", Float) = -0.01
+        _EmissionMap("Emission Map", 2D) = "black" {}
+        _EmissionMapChannel("Emission Map Channel", Int) = 4 // RGBAverage.
+        _EmissionUniform("Emission Uniform", Float) = -0.01
+        _SmoothnessMap("Smoothness Map", 2D) = "gray" {}
+        _SmoothnessMapChannel("Smoothness Map Channel", Int) = 3 // Alpha.
+        _SmoothnessUniform("Smoothness Uniform", Float) = -0.01
+    }
+    SubShader
+    {
+        Pass
+        {
+            CGPROGRAM
+
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float2 uv : TEXCOORD0;
+            };
+
+            struct v2f
+            {
+                float4 vertex : SV_POSITION;
+                float2 uv : TEXCOORD0;
+            };
+
+            sampler2D _MetallicMap;
+            int _MetallicMapChannel;
+            float _MetallicUniform;
+            sampler2D _OcclusionMap;
+            int _OcclusionMapChannel;
+            float _OcclusionUniform;
+            sampler2D _EmissionMap;
+            int _EmissionMapChannel;
+            float _EmissionUniform;
+            sampler2D _SmoothnessMap;
+            int _SmoothnessMapChannel;
+            float _SmoothnessUniform;
+
+            v2f vert(appdata v)
+            {
+                v2f o;
+                o.vertex = UnityObjectToClipPos(v.vertex);
+                o.uv = v.uv;
+
+                return o;
+            }
+
+            fixed4 ToGrayScale(fixed4 color)
+            {
+                return color.r * 0.21 + color.g * 0.71 + color.b * 0.08;
+            }
+
+            fixed Sample(fixed4 color, int channel, float uniformValue)
+            {
+                if (uniformValue >= 0.0)
+                {
+                    return uniformValue;
+                }
+
+                if (channel == 4)
+                {
+                    return ToGrayScale(color);
+                }
+
+                return color[channel];
+            }
+
+            fixed4 frag(v2f i) : SV_Target
+            {
+                fixed4 output;
+
+                output.r = Sample(tex2D(_MetallicMap, i.uv), _MetallicMapChannel, _MetallicUniform);
+                output.g = Sample(tex2D(_OcclusionMap, i.uv), _OcclusionMapChannel, _OcclusionUniform);
+                output.b = Sample(tex2D(_EmissionMap, i.uv), _EmissionMapChannel, _EmissionUniform);
+                output.a = Sample(tex2D(_SmoothnessMap, i.uv), _SmoothnessMapChannel, _SmoothnessUniform);
+
+                return output;
+            }
+
+            ENDCG
+        }
+    }
+}

UnityProjects/ros2hololens/Assets/MRTK/Shaders/DepthBufferPostProcess.shader

@@ -0,0 +1,35 @@
+// Copyright (c) Microsoft Corporation.
+// Licensed under the MIT License.
+
+// NOTE: MRTK Shaders are versioned via the MRTK.Shaders.sentinel file.
+// When making changes to any shader's source file, the value in the sentinel _must_ be incremented.
+
+Shader "Mixed Reality Toolkit/Depth Buffer Viewer"
+{
+    Properties
+    {
+        _DepthTex("Texture", 2D) = "black" {}
+        _MainTex("Base (RGB)", 2D) = "green" {}
+    }
+
+    SubShader
+    {
+        Pass
+        {
+        CGPROGRAM
+            #pragma vertex vert_img
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            uniform sampler2D _MainTex;
+            sampler2D _DepthTex;
+
+            float4 frag(v2f_img i) : COLOR
+            {
+                return Linear01Depth(SAMPLE_DEPTH_TEXTURE(_DepthTex, i.uv));
+            }
+        ENDCG
+        }
+    }
+}