private void ProcessMarkerUpdate()
{
HashSet <int> updatedMarkerIds = new HashSet <int>();
foreach (var marker in markers)
{
updatedMarkerIds.Add(marker.Key);
float size = 0;
if (markerDetector.TryGetMarkerSize(marker.Key, out size))
{
var markerTopLeftPosition = CalcTopLeftFromCenter(marker.Value.Position, marker.Value.Rotation, size);
var markerRotation = marker.Value.Rotation;
if (showDebugVisuals)
{
GameObject detectedMarkerDebugVisual = null;
detectedMarkerDebugVisuals.TryGetValue(marker.Key, out detectedMarkerDebugVisual);
detectedMarkerDebugVisualHelper.CreateOrUpdateVisual(ref detectedMarkerDebugVisual, markerTopLeftPosition, markerRotation, size * Vector3.one);
detectedMarkerDebugVisuals[marker.Key] = detectedMarkerDebugVisual;
}
Vector3 arucoTopLeftPosition;
if (markerDetector is ArUcoMarkerDetector)
{
arucoTopLeftPosition = markerTopLeftPosition;
}
else
{
var originToQRCode = Matrix4x4.TRS(markerTopLeftPosition, markerRotation, Vector3.one);
arucoTopLeftPosition = originToQRCode.MultiplyPoint(new Vector3(-1.0f * ((2.0f * (size * markerPaddingRatio)) + (size)), 0, 0));
}
// We assume that the calculated marker has the same orientation as the detected code marker because they are on the same plane/2d calibration board.
var arucoRotation = marker.Value.Rotation;
if (showDebugVisuals)
{
GameObject arucoDebugVisual = null;
calculatedMarkerDebugVisuals.TryGetValue(marker.Key, out arucoDebugVisual);
calculatedMarkerDebugVisualHelper.CreateOrUpdateVisual(ref arucoDebugVisual, arucoTopLeftPosition, arucoRotation, size * Vector3.one);
calculatedMarkerDebugVisuals[marker.Key] = arucoDebugVisual;
}
var markerPair = new MarkerPair();
markerPair.id = marker.Key;
markerPair.qrCodeMarkerCorners = CalculateMarkerCorners(markerTopLeftPosition, markerRotation, size);
markerPair.arucoMarkerCorners = CalculateMarkerCorners(arucoTopLeftPosition, arucoRotation, size);
lock (markerPairs)
{
markerPairs[marker.Key] = markerPair;
}
}
}
RemoveUnobservedItemsAndDestroy(detectedMarkerDebugVisuals, updatedMarkerIds);
RemoveUnobservedItemsAndDestroy(calculatedMarkerDebugVisuals, updatedMarkerIds);
}
private void ProcessQRCodeUpdate()
{
HashSet <int> updatedMarkerIds = new HashSet <int>();
foreach (var marker in qrCodeMarkers)
{
updatedMarkerIds.Add(marker.Key);
float size = 0;
if (qrCodeMarkerDetector.TryGetMarkerSize(marker.Key, out size))
{
var qrCodePosition = marker.Value.Position;
var qrCodeRotation = marker.Value.Rotation;
if (showDebugVisuals)
{
GameObject qrCodeDebugVisual = null;
qrCodeDebugVisuals.TryGetValue(marker.Key, out qrCodeDebugVisual);
qrCodeDebugVisualHelper.CreateOrUpdateVisual(ref qrCodeDebugVisual, qrCodePosition, qrCodeRotation, size * Vector3.one);
qrCodeDebugVisuals[marker.Key] = qrCodeDebugVisual;
}
var originToQRCode = Matrix4x4.TRS(qrCodePosition, qrCodeRotation, Vector3.one);
var arucoPosition = originToQRCode.MultiplyPoint(new Vector3(-1.0f * ((2.0f * (size * markerPaddingRatio)) + (size)), 0, 0));
// We assume that the aruco marker has the same orientation as the qr code marker because they are on the same plane/2d calibration board.
var arucoRotation = marker.Value.Rotation;
if (showDebugVisuals)
{
GameObject arucoDebugVisual = null;
arucoDebugVisuals.TryGetValue(marker.Key, out arucoDebugVisual);
arucoDebugVisualHelper.CreateOrUpdateVisual(ref arucoDebugVisual, arucoPosition, arucoRotation, size * Vector3.one);
arucoDebugVisuals[marker.Key] = arucoDebugVisual;
}
var markerPair = new MarkerPair();
markerPair.id = marker.Key;
markerPair.qrCodeMarkerCorners = CalculateMarkerCorners(qrCodePosition, qrCodeRotation, size);
markerPair.arucoMarkerCorners = CalculateMarkerCorners(arucoPosition, arucoRotation, size);
lock (markerPairs)
{
markerPairs[marker.Key] = markerPair;
}
}
}
RemoveUnobservedItemsAndDestroy(qrCodeDebugVisuals, updatedMarkerIds);
RemoveUnobservedItemsAndDestroy(arucoDebugVisuals, updatedMarkerIds);
}
