/// <summary>
/// Create the space pins in an idle state.
/// </summary>
/// <remarks>
/// Pins won't become active until the corresponding QR code is seen.
/// </remarks>
private void SetUpSpacePins()
{
DestroySpacePins();
for (int i = 0; i < VirtualMarkers.Count; ++i)
{
spacePins.Add(SpacePinPackage.Create(this, VirtualMarkers[i]));
}
}
/// <summary>
/// Process a newly added QR code.
/// </summary>
/// <param name="qrCode">The qr code to process.</param>
private void OnQRCodeAdded(QRCode qrCode)
{
string frameId;
if (ExtractFrameId(qrCode, out frameId))
{
if (spacePins.ContainsKey(frameId) == false)
{
Vector3 vecU = Vector3.zero;
Quaternion quatU = Quaternion.identity;
TfVector3? vecTF = spacePinningService.SharedListener.LookupTranslation("map", frameId);
TfQuaternion?quatTF = spacePinningService.SharedListener.LookupRotation("map", frameId);
if (vecTF.HasValue == false || quatTF.HasValue == false)
{
Debug.LogWarning($"Could not find a ROS transform from map to {frameId}; assuming map == frameId");
}
else
{
vecU = TransformHelper.VectorTfToUnity(vecTF.Value);
quatU = TransformHelper.QuatTfToUnity(quatTF.Value);
if (spacePinningService.UseCenterOfQRCode)
{
// QRCode zero is at the top left corner; but for mounting center can be better.
Vector3 qrCenterOffset = new Vector3(qrCode.PhysicalSideLength / 2.0f, qrCode.PhysicalSideLength / 2.0f, 0.0f);
vecU += qrCenterOffset;
}
Quaternion correction = Quaternion.Euler(-90.0f, 0.0f, 0.0f);
quatU = quatU * correction;
}
var qrCodeLocationInROSSpace = new GameObject(frameId);
qrCodeLocationInROSSpace.transform.parent = this.transform;
qrCodeLocationInROSSpace.transform.SetPositionAndRotation(vecU, quatU);
spacePins[frameId] = SpacePinPackage.Create(this, qrCodeLocationInROSSpace.transform);
}
}
}
