static public void adjustPose(smartar.Rotation cameraRotation, smartar.Rotation screenRotation, bool isFlipX, bool isFlipY, smartar.Vector3 srcPosition, smartar.Quaternion srcRotation, out smartar.Vector3 rotPosition, out smartar.Quaternion rotRotation) { smartar.Rotation rotation = (smartar.Rotation)((cameraRotation - screenRotation + 360) % 360); rotPosition = srcPosition; rotRotation = srcRotation; if (isFlipX) { rotPosition.x_ = -rotPosition.x_; rotRotation.y_ = -rotRotation.y_; rotRotation.z_ = -rotRotation.z_; } if (isFlipY) { rotPosition.y_ = -rotPosition.y_; rotRotation.x_ = -rotRotation.x_; rotRotation.z_ = -rotRotation.z_; } if (rotation != smartar.Rotation.ROTATION_0) { float rad; switch (rotation) { case smartar.Rotation.ROTATION_90: { rad = Mathf.PI * 0.5f * 0.5f; break; } case smartar.Rotation.ROTATION_180: { rad = Mathf.PI * 1.0f * 0.5f; break; } case smartar.Rotation.ROTATION_270: { rad = Mathf.PI * 1.5f * 0.5f; break; } default: throw new InvalidOperationException("unexpected value: " + rotation); } // rotate pose around z axis Quaternion quat0 = new Quaternion(rotRotation.x_, rotRotation.z_, rotRotation.y_, rotRotation.w_); Quaternion quat1 = new Quaternion(0.0f, Mathf.Sin(rad), 0.0f, Mathf.Cos(rad)); quat0 = quat0 * quat1; rotRotation.x_ = quat0.x; rotRotation.y_ = quat0.z; rotRotation.z_ = quat0.y; rotRotation.w_ = quat0.w; } }
protected override void SetPose(Transform transformObject, smartar.RecognitionResult result, smartar.Vector3 rotPosition) { Transform lastRecognizedTransform = SmartAREffectorBase.GetLastRecognizedTransform(); if (lastRecognizedTransform == null) { return; } if (SmartAREffectorBase.IsLastRecognizedGameObject(targetEffector_.gameObject)) { smartAREffector_.setPose(transformObject, result, rotPosition); transformObject.position = transformObject.position - lastRecognizedTransform.position; } else { if (smartAREffector_.UseFrontCamera()) { if (smartAREffector_.GetImageSensorRotation() == smartar.Rotation.ROTATION_90) { // Nexus 6P,6,5X front camera rotPosition.x_ = -rotPosition.x_; rotPosition.y_ = -rotPosition.y_; } result.position_.x_ -= rotPosition.x_; result.position_.y_ += rotPosition.y_; result.position_.z_ -= rotPosition.z_; } else { result.position_.x_ -= rotPosition.x_; result.position_.y_ -= rotPosition.y_; result.position_.z_ -= rotPosition.z_; } smartar.Vector3 zeroVec = new smartar.Vector3(); zeroVec.x_ = zeroVec.y_ = zeroVec.z_ = 0.0f; var targetTransform = new GameObject().transform; smartAREffector_.setPose(targetTransform, result, zeroVec); targetTransform.rotation = lastRecognizedTransform.rotation * UnityEngine.Quaternion.Inverse(targetTransform.rotation); targetTransform.position = targetTransform.rotation * targetTransform.position; transformObject.position = lastRecognizedTransform.position - targetTransform.position; transformObject.rotation = targetTransform.rotation; Destroy(targetTransform.gameObject); } }
public void setPose(Transform transformObject, smartar.RecognitionResult result, smartar.Vector3 landmarkPos) { smartar.Vector3 rotPosition; smartar.Quaternion rotRotation; callAdjustPose(result.position_, result.rotation_, out rotPosition, out rotRotation); transformObject.rotation = Quaternion.identity; transformObject.RotateAround(Vector3.zero, Vector3.right, -90); var q = new Quaternion(rotRotation.x_, rotRotation.z_, rotRotation.y_, rotRotation.w_); float angle; Vector3 axis; q.ToAngleAxis(out angle, out axis); transformObject.RotateAround(Vector3.zero, axis, angle); transformObject.position = new Vector3( (rotPosition.x_ + landmarkPos.x_) * nearClipPlane_, (rotPosition.z_ + landmarkPos.z_) * nearClipPlane_, (rotPosition.y_ + landmarkPos.y_) * nearClipPlane_); }
protected abstract void callAdjustPose(smartar.Vector3 srcPosition, smartar.Quaternion srcRotation, out smartar.Vector3 rotPosition, out smartar.Quaternion rotRotation);
protected abstract void SetPose(Transform transformObject, smartar.RecognitionResult result, smartar.Vector3 rotPosition);
protected override void callAdjustPose(smartar.Vector3 srcPosition, smartar.Quaternion srcRotation, out smartar.Vector3 rotPosition, out smartar.Quaternion rotRotation) { smartar.Rotation screenRotation = GetScreenRotation(); smartar.Rotation cameraRotation = GetCameraRotation(); SmartARController.adjustPose(cameraRotation, screenRotation, IsFlipX(), IsFlipY(), srcPosition, srcRotation, out rotPosition, out rotRotation); }
private static extern void sarSmartar_SarSmartARController_sarAdjustPose(IntPtr self, ref smartar.Vector3 fromPosition, ref smartar.Quaternion fromRotation, out smartar.Vector3 toPosition, out smartar.Quaternion toRotation);
void OnPreRender() { if (smartInitFailed_) { return; } if (self_ == IntPtr.Zero) { return; } drawStartTimeSec_ = Time.realtimeSinceStartup; #if UNITY_5_0 #if UNITY_ANDROID && !UNITY_EDITOR GL.IssuePluginEvent(0); #elif UNITY_IOS && !UNITY_EDITOR GL.Clear(true, false, Color.green); #endif #else GL.IssuePluginEvent(GetRenderEventFunc(), 0); GL.InvalidateState(); #endif // Draw landmarks if (miscSettings.showLandmarks) { // Get result var result = new smartar.RecognitionResult(); result.maxLandmarks_ = smartar.Recognizer.MAX_NUM_LANDMARKS; result.landmarks_ = landmarkBuffer_; result.maxNodePoints_ = smartar.Recognizer.MAX_NUM_NODE_POINTS; result.nodePoints_ = nodePointBuffer_; result.maxInitPoints_ = smartar.Recognizer.MAX_NUM_INITIALIZATION_POINTS; result.initPoints_ = initPointBuffer_; GetResult(null, ref result); // Draw landmarks var adjustedPosition = new smartar.Vector3(); var adjustedRotation = new smartar.Quaternion(); sarSmartar_SarSmartARController_sarAdjustPose(self_, ref result.position_, ref result.rotation_, out adjustedPosition, out adjustedRotation); var mvMatrix = new smartar.Matrix44(); smartar.Utility.convertPose2Matrix(adjustedPosition, adjustedRotation, out mvMatrix); var projMatrix = getProjMatrix(); var initPointMatrix = sarSmartar_SarSmartARController_sarGetInitPointMatrix(self_); var pmvMatrix = projMatrix * mvMatrix; // Draw Preview, landmarks, node points, init points sarSmartar_SarSmartARController_sarSetDrawData(Screen.width, Screen.height, miscSettings.showCameraPreview); sarSmartar_SarSmartARController_sarSetLandmarkDrawerDrawLandmarkData(self_, landmarkDrawer_.self_, ref pmvMatrix, result.landmarks_, result.numLandmarks_); sarSmartar_SarSmartARController_sarSetLandmarkDrawerDrawNodePointData(self_, landmarkDrawer_.self_, ref pmvMatrix, result.nodePoints_, result.numNodePoints_); sarSmartar_SarSmartARController_sarSetLandmarkDrawerDrawInitPointData(self_, landmarkDrawer_.self_, ref initPointMatrix, result.initPoints_, result.numInitPoints_); GL.IssuePluginEvent(GetRenderEventFunc(), (int)RenderEventID.DoDraw); GL.InvalidateState(); } else { sarSmartar_SarSmartARController_sarSetDrawData(Screen.width, Screen.height, miscSettings.showCameraPreview); GL.IssuePluginEvent(GetRenderEventFunc(), (int)RenderEventID.DoDraw); GL.InvalidateState(); } }