// Update is called once per frame
void Update()
{
#if !UNITY_EDITOR
if (m_camera != null)
{
// JUST WORKS!
Matrix4x4 matrix = m_session.GetCameraPose();
m_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
m_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
#endif
}
// Update is called once per frame
void Update()
{
Debug.Assert(_camera != null);
// JUST WORKS!
Matrix4x4 matrix = _session.GetCameraPose();
_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
///...need update every frame?
_camera.projectionMatrix = _session.GetCameraProjection();
}
// Update is called once per frame
void Update()
{
if (mFrameUpdated)
{
mFrameUpdated = false;
if (mImage == null)
{
InitARFrameBuffer();
}
if (mARCamera.trackingState == ARTrackingState.ARTrackingStateNotAvailable)
{
// ARKit pose is not yet initialized
return;
}
else if (!mARKitInit && LibPlacenote.Instance.Initialized())
{
mARKitInit = true;
Debug.Log("ARKit + placenote Initialized");
StartSavingMap();
}
Matrix4x4 matrix = mSession.GetCameraPose();
Vector3 arkitPosition = PNUtility.MatrixOps.GetPosition(matrix);
Quaternion arkitQuat = PNUtility.MatrixOps.GetRotation(matrix);
LibPlacenote.Instance.SendARFrame(mImage, arkitPosition, arkitQuat, mARCamera.videoParams.screenOrientation);
if (shouldRecordWaypoints)
{
Transform player = Camera.main.transform;
//create waypoints if there are none around
Collider[] hitColliders = Physics.OverlapSphere(player.position, 1f);
int i = 0;
while (i < hitColliders.Length) // a loop to check if there's any waypoint around in the radius of 1 meter, if there is return, doing nothing
{
if (hitColliders[i].CompareTag("waypoint"))
{
return;
}
i++;
}
Vector3 pos = player.position; //if there are no way point add shape
Debug.Log(player.position);
pos.y = -.5f;
shapeManager.AddShape(pos, Quaternion.Euler(Vector3.zero), false);
}
}
}
// Update is called once per frame
public void SetPose()
{
if (EnableCameraTracking)
{
if (m_camera != null)
{
// JUST WORKS!
Matrix4x4 matrix = m_session.GetCameraPose();
m_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
m_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
if (!IgnoreProjectionMatrix)
{
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
}
}
}
// Update is called once per frame
void Update()
{
//Debug.Log ("movementScale: " + VPETSettings.Instance.trackingScale.ToString());
Matrix4x4 matrix = m_session.GetCameraPose();
//transform.localPosition = UnityARMatrixOps.GetPosition (matrix) * VPETSettings.Instance.trackingScale * m_movementScale;
transform.localPosition = UnityARMatrixOps.GetPosition(matrix) * m_movementScale;
transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
if (m_arMode)
{
//for AR mode
Camera.main.projectionMatrix = m_session.GetCameraProjection();
foreach (Camera cam in Camera.main.transform.GetComponentsInChildren <Camera>())
{
cam.projectionMatrix = Camera.main.projectionMatrix;
}
}
}
void Update()
{
#if UNITY_IOS
if (sessionStarted)
{
Matrix4x4 matrix = m_session.GetCameraPose();
m_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
m_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
#endif
#if UNITY_ANDROID
transform.localPosition = Frame.Pose.position;
transform.localRotation = Frame.Pose.rotation;
m_camera.projectionMatrix = Frame.CameraImage.GetCameraProjectionMatrix(m_camera.nearClipPlane, m_camera.farClipPlane);
#endif
}
// Update is called once per frame
void Update()
{
if (mFrameUpdated)
{
mFrameUpdated = false;
if (mImage == null)
{
InitARFrameBuffer();
}
if (mARCamera.trackingState == ARTrackingState.ARTrackingStateNotAvailable)
{
// ARKit pose is not yet initialized
return;
}
else if (!mARKitInit)
{
mARKitInit = true;
mLabelText.text = "ARKit is ready!";
}
if (!LibPlacenote.Instance.Initialized())
{
//LibPlacenote is not ready
return;
}
else if (!mPlacenoteInit)
{
mPlacenoteInit = true;
mLabelText.text = "Placenote is ready!";
LoadMap();
}
Matrix4x4 matrix = mSession.GetCameraPose();
Vector3 arkitPosition = PNUtility.MatrixOps.GetPosition(matrix);
Quaternion arkitQuat = PNUtility.MatrixOps.GetRotation(matrix);
if (mARKitInit && mPlacenoteInit)
{
LibPlacenote.Instance.SendARFrame(mImage, arkitPosition, arkitQuat, mARCamera.videoParams.screenOrientation);
}
}
}
// Update is called once per frame
void FixedUpdate()
{
#if !UNITY_EDITOR
Matrix4x4 matrix = arSession.GetCameraPose();
Vector3 pos = UnityARMatrixOps.GetPosition(matrix);
Vector3 worldPos = arCameraSpace.TransformPoint(pos);
Quaternion rot = UnityARMatrixOps.GetRotation(matrix);
Quaternion direction = Quaternion.Euler(0, arCameraSpace.eulerAngles.y, 0);
Quaternion worldRot = direction * rot;
worldPos *= arCameraWorldScale;
//Debug.Log("WovenARCameraManager: FixedUpdate: pos: " + pos.x + " " + pos.y + " " + pos.z + " rot: " + rot.x + " " + rot.y + " " + rot.z + " worldPos: " + worldPos.x + " " + worldPos.y + " " + worldPos.x + " worldRot: " + worldRot.x + " " + worldRot.y + " " + worldRot.z);
arCameraHolderRigidbody.MovePosition(worldPos);
arCameraHolderRigidbody.MoveRotation(worldRot);
arCamera.projectionMatrix = arSession.GetCameraProjection();
#endif
}
// Update is called once per frame
void Update()
{
Matrix4x4 matrix = m_session.GetCameraPose();
if (m_arMode)
{
transform.localPosition = UnityARMatrixOps.GetPosition(matrix) * 1f;
}
else
{
transform.localPosition = UnityARMatrixOps.GetPosition(matrix) * 200f; //m_movementScale;
}
transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
//Camera.main.projectionMatrix = m_session.GetCameraProjection();
if (m_arMode)
{
//for AR mode
Camera.main.projectionMatrix = m_session.GetCameraProjection();
foreach (Camera cam in Camera.main.transform.GetComponentsInChildren <Camera>())
{
cam.projectionMatrix = Camera.main.projectionMatrix;
}
}
}
void Update()
{
if (m_camera != null)
{
Matrix4x4 matrix = m_session.GetCameraPose();
Vector3 arPos = UnityARMatrixOps.GetPosition(matrix);
Vector3 diff = arPos - lastArPos;
Vector3 correctedDiff = new Vector3(
sin * diff.z + cos * diff.x,
diff.y,
cos * diff.z - sin * diff.x);
m_camera.transform.localPosition += correctedDiff;
lastArPos = arPos;
Quaternion r = UnityARMatrixOps.GetRotation(matrix);
m_camera.transform.localRotation = Quaternion.Euler(
r.eulerAngles.x,
r.eulerAngles.y + initRotation.eulerAngles.y,
r.eulerAngles.z);
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
}
protected override void Update()
{
if (IsNewLayer)
{
_sessionStarted = false;
}
base.Update();
var layerItemList = LayerItemList;
if (MenuEnabled.HasValue && MenuEnabled.Value && layerItemList != null && layerItemList.Any())
{
var fitToScanOverlay = FitToScanOverlay;
if (fitToScanOverlay != null && fitToScanOverlay.activeSelf)
{
long nowTicks = DateTime.Now.Ticks;
var second = nowTicks / 10000000L;
if (!_fitToScanOverlayActivationSecond.HasValue)
{
_fitToScanOverlayActivationSecond = second;
//Debug.LogFormat("FTS value {0}", _fitToScanOverlayActivationSecond.Value);
}
else
{
var value = _fitToScanOverlayActivationSecond.Value;
if (value + 30 < second)
{
//Debug.LogFormat("FTS value {0}, second {1}", _fitToScanOverlayActivationSecond.Value, second);
var triggerObjects = TriggerObjects;
if (triggerObjects != null)
{
foreach (var t in triggerObjects.Values)
{
t.isActive = false;
}
}
_fitToScanOverlayActivationSecond = null;
MenuButtonClick = new MenuButtonClickActivity {
ArBehaviour = this
};
}
else
{
SetInfoText($"Timeout in {value + 30 - second} seconds.");
}
}
}
else
{
_fitToScanOverlayActivationSecond = null;
}
}
#if IS_SLAM_APP
#else
if (!_sessionStarted)
{
if (!HasTriggerImages)
{
StartArSession();
return;
}
var anchorManager = AnchorManager.GetComponent <ArKitAnchorManager>();
anchorManager.ArBehaviour = this;
anchorManager.TriggerObjects = TriggerObjects;
anchorManager.FitToScanOverlay = FitToScanOverlay;
StartArSession(anchorManager.TriggerObjects);
}
#endif
if (m_camera != null && _sessionStarted)
{
// JUST WORKS!
Matrix4x4 matrix = m_session.GetCameraPose();
m_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
m_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
}
void Update()
{
if (m_camera != null && sessionStarted)
{
// Positional information of AR camera
Matrix4x4 matrix = m_session.GetCameraPose();
Vector3 newPos = UnityARMatrixOps.GetPosition(matrix);
passedTime += Time.deltaTime;
// Get accelerometer difference (experimental)
double acc = Input.acceleration.z - lastAcc.z; //Changed from Float to double on 6 Apr to try and get Acc data to show
if (acc > 0)
{
dir = Direction.backward;
}
else if (acc < 0)
{
dir = Direction.forward;
}
// Do speed calculation and update UI
if (frames % speedFrames == 0)
{
double dist = Vector3.Distance(newPos, lastPos); //Changed from Float to double on 6 Apr to try and get Acc data to show | Added 6 Apr
speed = dist / passedTime;
speedText.text = "Speed " + speed.ToString();
if (speed > 1)
{
warningText.text = "Slow down!";
if (dir == Direction.forward)
{
directionText.text = "Forwards";
}
else
{
directionText.text = "Backwards";
}
}
else
{
warningText.text = "";
directionText.text = "";
}
// Reset counters and update last recorded info
frames = 0;
passedTime = 0;
lastPos = m_camera.transform.localPosition;
lastAcc = Input.acceleration;
// Debug text
posText.text = "Pos: " + m_camera.transform.localPosition;
accText.text = "Acc: " + (string.Format("{0:0.000000000000}", (Input.acceleration - lastAcc))); //Ensure it's formatting value to 12 places after the decimal point so that it's clear whether there's any value in there.
debugAccText.text = "Acc Debug: " + (Input.acceleration); //Display Current Acceleration to debug the Acceleration bug: Added 6 Apr
debugAccTypeText.text = "Acc Type: " + (Input.acceleration.GetType()); //Added 6 Apr: Should Display type of the Input.accleration val to determine if it's an int
}
frames++;
// Move game camera to new position/rotation sensed
m_camera.transform.localPosition = UnityARMatrixOps.GetPosition(matrix);
m_camera.transform.localRotation = UnityARMatrixOps.GetRotation(matrix);
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
}
// Update is called once per frame
//Edited by Chris 21/01/2018
void Update()
{
if (m_camera != null)
{
//This is the original way of retrieving position and rotation from UnityARSessionNativeInterface
//m_session.GetCameraPose(); retrieves the unaltered pose as estimated by ARKit.
//Altering the pose here, in UnityARCameraManager, is simpler than attempting to do so in
//UnityARSessionNativeInterface, as it does not require the position and rotation information to
//be injected into the world transform matrix.
Matrix4x4 matrix = m_session.GetCameraPose();
//#if !UNITY_EDITOR
arkit_position = UnityARMatrixOps.GetPosition(matrix);
arkit_rotation = UnityARMatrixOps.GetRotation(matrix);
//#endif
//It is instead possible to attempt to perform all camera adjustments below:
Vector4 unityCameraPosition;
Quaternion unityCameraRotation;
//Debug.Log(tracking);
if (tracking == TrackingType.TrackerRelay)
{
resetCameraParent();
unityCameraPosition = tracker_position;
unityCameraRotation = tracker_rotation;
}
else if (tracking == TrackingType.HeadsetRelay)
{
resetCameraParent();
unityCameraPosition = headset_position;
unityCameraRotation = headset_rotation;
//Spectating mode - AR camera behind and above VR, looking down at scene
CalculateSpectatePose(headset_position, headset_rotation, spectateCameraDistance, spectateCameraAngle,
out unityCameraPosition, out unityCameraRotation);
}
else if (tracking == TrackingType.ARKit)
{
//Setting the Unity camera pose to purely ARKit's pose estimation
resetCameraParent();
unityCameraPosition = arkit_position;
unityCameraRotation = arkit_rotation;
}
else
{
//NEW CALIBRATION
//do not reset camera parent
unityCameraPosition = arkit_position;
unityCameraRotation = arkit_rotation;
// OR TRY THIS
// resetCameraParent();
// unityCameraPosition = arkit_position + offset_position;
// unityCameraRotation = arkit_rotation * offset_rotation;
}
m_camera.transform.localPosition = unityCameraPosition;
m_camera.transform.localRotation = unityCameraRotation;
//TODO: Check whether the projectionMatrix is influenced by localposition and rotation
//(But it shouldn't be, and we should not need to alter it)
m_camera.projectionMatrix = m_session.GetCameraProjection();
}
}