private void OnExtrinsicData(VLExtrinsicDataWrapper extrinsicData)
{
if (!this.useLastValidPose || !this.ready || this.initCamera == null)
{
return;
}
if (!extrinsicData.GetValid() ||
!extrinsicData.GetModelViewMatrix(this.modelViewMatrixArray))
{
return;
}
// Apply the extrinsic camera parameters
for (int i = 0; i < 16; ++i)
{
this.modelViewMatrix[i % 4, i / 4] =
this.modelViewMatrixArray[i];
}
/*
* // TODO(mbuchner): Why is this necessary? According to the Unity
* // documentation, Camera.worldToCameraMatrix should work with OpenGL
* // coordinates.
* this.modelViewMatrix[0, 2] = -this.modelViewMatrix[0, 2];
* this.modelViewMatrix[1, 2] = -this.modelViewMatrix[1, 2];
* this.modelViewMatrix[2, 2] = -this.modelViewMatrix[2, 2];
*
* // Reverse the rotation of the scene which Unity does
* // automatically
* this.initCamera.worldToCameraMatrix =
* this.invRotCamera * this.modelViewMatrix;
*/
// Compute the right-handed world to camera matrix
Matrix4x4 worldToCameraMatrix = this.invRotCamera * this.modelViewMatrix;
if (this.workerBehaviour.flipCoordinateSystemHandedness ==
VLUnityCameraHelper.FlipCoordinateSystemHandedness.Automatically)
{
worldToCameraMatrix *= VLUnityCameraHelper.rotationY180;
}
// Compute the left-handed world to camera matrix
worldToCameraMatrix = VLUnityCameraHelper.flipZ * worldToCameraMatrix * VLUnityCameraHelper.flipZ;
// Compute the left-handed camera to world matrix
Matrix4x4 cameraToWorldMatrix = worldToCameraMatrix.inverse;
// Extract the rotation and translation from the computed matrix
this.initCamera.transform.rotation =
Quaternion.LookRotation(
cameraToWorldMatrix.GetColumn(2),
cameraToWorldMatrix.GetColumn(1));
this.initCamera.transform.position =
cameraToWorldMatrix.GetColumn(3);
// TODO(mbuchner): Compute camera orientation in native code
}
private void OnExtrinsicData(VLExtrinsicDataWrapper extrinsicData)
{
if (this.updateIgnoreCounter > 0)
{
this.updateIgnoreCounter -= 1;
return;
}
bool valid = extrinsicData.GetValid();
// State changed from invalid to valid?
if (valid && this.initMode)
{
// Clear the anchor otherwise the content can't be moved
ClearContentAnchor();
this.initMode = false;
}
// State changed from valid to invalid?
else if (!valid && !this.initMode)
{
// Don't go to initialization mode, because the HoloLens is able to
// relocate itself
//this.initMode = true;
}
}
private void OnExtrinsicData(VLExtrinsicDataWrapper extrinsicData)
{
if (this.updateIgnoreCounter > 0)
{
this.updateIgnoreCounter -= 1;
return;
}
// State changed from invalid to valid?
bool valid = extrinsicData.GetValid();
if (valid && this.initMode)
{
this.DeactivateInitMode();
}
// State changed from valid to invalid?
else if (!valid && !this.initMode)
{
// Don't go to initialization mode, because the HoloLens is able to
// relocate itself
//this.ActivateInitMode();
}
if (!extrinsicData.GetModelViewMatrix(this.modelViewMatrixArray))
{
return;
}
if (valid)
{
// Apply the extrinsic camera parameters
for (int i = 0; i < 16; ++i)
{
this.modelViewMatrix[i % 4, i / 4] =
this.modelViewMatrixArray[i];
}
if (this.workerBehaviour.flipCoordinateSystemHandedness ==
VLUnityCameraHelper.FlipCoordinateSystemHandedness.Automatically)
{
this.modelViewMatrix *= VLUnityCameraHelper.rotationY180;
}
// Compute the left-handed world to camera matrix
this.modelViewMatrix = VLUnityCameraHelper.flipZ *
VLUnityCameraHelper.flipYZ *
this.modelViewMatrix *
VLUnityCameraHelper.flipZ;
Vector3 t = this.modelViewMatrix.GetColumn(3);
Quaternion q = Quaternion.LookRotation(
this.modelViewMatrix.GetColumn(2),
this.modelViewMatrix.GetColumn(1));
// Don't set the position directly. Interpolate smoothly in the
// Update function instead
this.contentTargetPosition = t;
this.contentTargetRotation = q;
}
}
private static void DispatchNamedExtrinsicDataEvent(IntPtr handle,
IntPtr clientData)
{
try
{
VLExtrinsicDataWrapper extrinsicData = new VLExtrinsicDataWrapper(
handle, false);
GCHandle gcHandle = GCHandle.FromIntPtr(clientData);
VLDebugCameraBehaviour debugCameraBehaviour =
(VLDebugCameraBehaviour)gcHandle.Target;
debugCameraBehaviour.OnExtrinsicData(extrinsicData);
extrinsicData.Dispose();
}
catch (Exception e) // Catch all exceptions, because this is a callback
// invoked from native code
{
Debug.LogError("[vlUnitySDK] " + e.GetType().Name + ": " +
e.Message);
}
}
private void ExtrinsicDataHandler(IntPtr handle)
{
VLExtrinsicDataWrapper extrinsicData =
new VLExtrinsicDataWrapper(handle, false);
if (OnExtrinsicData != null)
{
OnExtrinsicData(extrinsicData);
}
if (OnTrackingState != null)
{
if (extrinsicData.GetValid())
{
OnTrackingState(100, "0");
}
else
{
OnTrackingState(0, "0");
}
}
extrinsicData.Dispose();
}
