void Update()
{
if (arCamera == null)
{
return;
}
if (!isSetup)
{
ARCameraManager manager = arCamera.GetComponent <ARCameraManager>();
if (manager.TryGetIntrinsics(out var intrinsics))
{
ConstructCameraFrame(intrinsics);
isSetup = true;
}
}
var pose = ARController.ARPoseToUnity(arCameraTransform.AsPose());
//var relativePose = TfListener.RelativePoseToFixedFrame(pose);
//Transform.SetParentLocal(TfListener.Instance.FixedFrame.Transform);
//var relativePose = TfListener.RelativePoseToOrigin(pose);
//Transform.SetParentLocal(TfListener.OriginFrame.Transform);
Transform.SetLocalPose(pose);
}
