public static void Set(string name, Vector3 topLeft, Vector3 bottomLeft, Vector3 bottomRight, Vector3 topRight)
{
var display = new FixedDisplay(topLeft, bottomLeft, bottomRight, topRight);
if (Has(name))
{
// TODO (?) overwrite existing instance
_calibratedDisplays[name] = display;
}
else
{
_calibratedDisplays.Add(name, display);
}
}
private void DoMultiMarkerCalibration(FixedDisplay display)
{
// get nearest marker (from center) with up-to-date ar marker pose
var nearestMarkers = new List<MarkerPose>();
// get intersection between camera ray and display plane
Vector3 intersection = new Vector3();
var hasIntersection = MathUtility.LinePlaneIntersection(out intersection, TrackedCamera.position, TrackedCamera.forward, display.Normal, display.GetCornerPosition(Corner.TopLeft));
var angle = MathUtility.AngleVectorPlane(TrackedCamera.forward, display.Normal);
// use <, as we want the camera to be perpendicular to the table ( | camera, _ table)
__camTableAngle = Mathf.Abs(angle);
if (Mathf.Abs(angle) < MinMarkerAngle)
{
__hasWrongAngle = true;
return;
}
__hasWrongAngle = false;
if (hasIntersection)
{
__intersection = intersection;
var poses = UseMaps ? ArucoMapListener.Instance.DetectedPoses.Values : ArucoListener.Instance.DetectedPoses.Values;
foreach (var marker in poses)
{
bool isCurrent = (Time.unscaledTime - marker.DetectionTime) < ArCutoffTime;
if (!isCurrent) { continue; } // shave off a few calculations
// calculate distance between intersection and marker
var markerWorldPosition = GetMarkerWorldPosition(marker.Id);
var distance = (intersection - markerWorldPosition).sqrMagnitude;
bool isNear = distance < NearestDistanceThreshold;
if (isCurrent && isNear)
{
nearestMarkers.Add(marker);
}
}
}
__nearestMarkerIds.Clear();
var pOffsets = new List<Vector3>();
var rOffsets = new List<Quaternion>();
foreach (var nearestMarker in nearestMarkers)
{
__nearestMarkerIds.Add(nearestMarker.Id);
var markerWorldPos = GetMarkerWorldPosition(nearestMarker.Id);
var distMarkerToCamera = (markerWorldPos - TrackedCamera.position).sqrMagnitude;
__camMarkerDistance = distMarkerToCamera;
// debugging
__nearestMarkerId = nearestMarker.Id;
// apply calibration
var markerMatrix = Matrix4x4.TRS(nearestMarker.Position, nearestMarker.Rotation, Vector3.one);
var cameraMatrix = markerMatrix.inverse;
var localPos = cameraMatrix.GetPosition();
var worldPos = markerWorldPos + display.Rotation * localPos;
var localRot = cameraMatrix.GetRotation();
var localForward = localRot * Vector3.forward;
var localUp = localRot * Vector3.up;
var worldForward = display.Rotation * localForward;
var worldUp = display.Rotation * localUp;
var worldRot = Quaternion.LookRotation(worldForward, worldUp);
pOffsets.Add(Quaternion.Inverse(_optitrackPose.Rotation) * (worldPos - _optitrackPose.Position));
rOffsets.Add(worldRot * Quaternion.Inverse(_ovrRotation));
}
if (nearestMarkers.Count > 0)
{
CalibrationParams.PositionOffset = MathUtility.Average(pOffsets);
// c = b * inv(a)
// => b = c * a?
// from ovrRot to worldRot
CalibrationParams.RotationOffset = MathUtility.Average(rOffsets);
}
}
private void DoMapCalibration(FixedDisplay display)
{
// TODO.
}
