// Updates arVisible, arPosition, arRotation based on linked marker state.
private void UpdateTracking()
{
// Note the current time
timeLastUpdate = Time.realtimeSinceStartup;
// First, ensure we have a base marker. If none, then no markers are currently in view.
ARMarker marker = GetMarker();
if (marker == null)
{
markerInsight = false;
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
else
{
markerInsight = true;
if (marker.Visible)
{
Matrix4x4 pose;
if (Optical && opticalSetupOK)
{
pose = (opticalViewMatrix * marker.TransformationMatrix).inverse;
}
else
{
pose = marker.TransformationMatrix.inverse;
}
arPosition = ARUtilityFunctions.PositionFromMatrix(pose);
// Camera orientation: In ARToolKit, zero rotation of the camera corresponds to looking vertically down on a marker
// lying flat on the ground. In Unity however, if we still treat markers as being flat on the ground, we clash with Unity's
// camera "rotation", because an unrotated Unity camera is looking horizontally.
// So we choose to treat an unrotated marker as standing vertically, and apply a transform to the scene to
// to get it to lie flat on the ground.
arRotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (!arVisible)
{
// Marker was hidden but now is visible.
arVisible = true;
}
}
else
{
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
}
}
public override void Start()
{
base.Start();
Matrix4x4 targetInWorldFrame = targetObject.transform.localToWorldMatrix;
Matrix4x4 targetInCameraFrame = this.gameObject.GetComponent <Camera>().transform.parent.worldToLocalMatrix *targetInWorldFrame;
vrTargetPosition = ARUtilityFunctions.PositionFromMatrix(targetInCameraFrame);
vrTargetRotation = ARUtilityFunctions.QuaternionFromMatrix(targetInCameraFrame);
vrObserverAzimuth = vrObserverElevation = 0.0f; // VR mode starts pointing in direction specified by the axes of the target.
vrObserverOffset = Vector3.zero;
}
// We use Update() here, but be aware that unless ARController has been configured to
// execute first (Unity Editor->Edit->Project Settings->Script Execution Order) then
// state produced by this update may lag by one frame.
void Update()
{
float[] matrixRawArray = new float[16];
ARController.Log(LogTag + "ARMarker.Update()");
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
// Query visibility if we are running in the Player.
if (Application.isPlaying)
{
visible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
ARController.Log(LogTag + "ARMarker.Update() UID=" + UID + ", visible=" + visible);
if (visible)
{
matrixRawArray[12] *= 0.001f; // Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[13] *= 0.001f;
matrixRawArray[14] *= 0.001f;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
//ARController.Log("arwQueryMarkerTransformation(" + UID + ") got matrix: [" + Environment.NewLine + matrixRaw.ToString("F3").Trim() + "]");
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// Output current position: Added by Kazu on Apr 2 2016
Vector3 position = ARUtilityFunctions.PositionFromMatrix(transformationMatrix);
print("Position of Barcode ID #" + BarcodeID + ": (" + position.x * 1000 + ", " + position.y * 1000 + ", " + position.z * 1000 + ")");
// print ("position.x [mm]: "+ position.x * 1000);
// print ("position.y [mm]: "+ position.y * 1000);
// print ("position.z [mm]: "+ position.z * 1000);
// If you need quaternion, you can use the followings.
// Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(transformationMatrix);
}
}
}
List <Vector4> getMeanPos()
{
List <Vector4> p = new List <Vector4>();
int ct = 0;
Vector3 tpos = new Vector3(0.0f, 0.0f, 0.0f);
Vector4 trot = new Vector4(0.0f, 0.0f, 0.0f, 0.0f);
int i = 0;
for (i = 0; i < markers.Length; i++)
{
if (!markers[i].Visible)
{
continue;
}
ct++;
Matrix4x4 pose = markers[i].TransformationMatrix;
Vector3 position = ARUtilityFunctions.PositionFromMatrix(pose);
Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(pose);
Vector4 ori = new Vector4(orientation [0], orientation [1], orientation [2], orientation[3]);
tpos += position;
trot += ori;
}
if (ct == 0)
{
return(p);
}
Debug.Log(ct);
tpos /= ct;
trot /= ct;
p.Add(new Vector4(tpos[0], tpos[1], tpos[2], 0.0f));
p.Add(trot);
return(p);
}
// Use LateUpdate to be sure the ARMarker has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
ARController.Log(LogTag + "No Origin");
//visible = visibleOrRemain = false;
}
else
{
// Sanity check, make sure we have an ARMarker assigned.
ARMarker marker = GetMarker();
if (marker == null)
{
ARController.Log(LogTag + "No ARMarker");
//visible = visibleOrRemain = false;
}
else
{
// Note the current time
float timeNow = Time.realtimeSinceStartup;
ARMarker baseMarker = origin.GetBaseMarker();
if (baseMarker != null && marker.Visible)
{
if (!visible)
{
// Marker was hidden but now is visible.
ARController.Log(LogTag + "Marker was hidden but now is visible.");
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerFound", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
else
{
// ARController.Log (LogTag + "Marker stayed visible");
}
Matrix4x4 pose;
if (marker == baseMarker)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseMarker.TransformationMatrix.inverse * marker.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerTracked", marker, SendMessageOptions.DontRequireReceiver);
}
}
else
{
if (visible)
{
// Marker was visible but now is hidden.
ARController.Log(LogTag + "Marker was visible but now is hidden. (after " + secondsToRemainVisible + "s)");
visible = false;
timeTrackingLost = timeNow;
}
else
{
// ARControllertroller.Log (LogTag + "Marker stayed hidden.");
}
if (visibleOrRemain && (timeNow - timeTrackingLost >= secondsToRemainVisible))
{
visibleOrRemain = false;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerLost", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(false);
}
}
}
} // marker
} // origin
} // Application.isPlaying
else
{
ARController.Log(LogTag + "Applicaiton Not Playing");
}
}
// Use LateUpdate to be sure the ARTrackable has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
//visible = visibleOrRemain = false;
}
else
{
// Sanity check, make sure we have an ARTrackable assigned.
ARTrackable trackable = GetTrackable();
if (trackable == null)
{
//visible = visibleOrRemain = false;
}
else
{
// Note the current time
float timeNow = Time.realtimeSinceStartup;
ARTrackable baseTrackable = origin.GetBaseTrackable();
if (baseTrackable != null && trackable.Visible)
{
if (!visible)
{
// Trackable was hidden but now is visible.
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableFound", trackable, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
Matrix4x4 pose;
if (trackable == baseTrackable)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseTrackable.TransformationMatrix.inverse * trackable.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableTracked", trackable, SendMessageOptions.DontRequireReceiver);
}
}
else
{
if (visible)
{
// Trackable was visible but now is hidden.
visible = false;
timeTrackingLost = timeNow;
}
if (visibleOrRemain && (timeNow - timeTrackingLost >= secondsToRemainVisible))
{
visibleOrRemain = false;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnTrackableLost", trackable, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(false);
}
}
}
} // marker
} // origin
} // Application.isPlaying
}
// Display the rotaion and position part to scene
void showText(Matrix4x4 curPose) // Newly added
{
Rotation.text = "Rotation: " + ARUtilityFunctions.QuaternionFromMatrix(curPose).ToString();
Position.text = "Position: " + ARUtilityFunctions.PositionFromMatrix(curPose).ToString();
Transformation.text = curPose.ToString();
}
// Updates arVisible, arPosition, arRotation based on linked marker state.
private void UpdateTracking(Boolean write)
{
// Note the current time
timeLastUpdate = Time.realtimeSinceStartup;
// First, ensure we have a base marker. If none, then no markers are currently in view.
ARMarker marker = GetMarker();
if (marker == null)
{
if (arVisible)
{
// Marker was visible but now is hidden.
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
else
{
if (marker.Visible)
{
Matrix4x4 pose;
//Matrix4x4 myPose;
if (Optical && opticalSetupOK)
{
pose = (opticalViewMatrix * marker.TransformationMatrix).inverse;
// myPose is the transformation from marker to camera
myPose = (opticalViewMatrix * marker.TransformationMatrix);
}
else
{
pose = marker.TransformationMatrix.inverse;
// myPose is the transformation from marker to camera
myPose = marker.TransformationMatrix;
}
// choose to treat an unrotated marker as standing vertically, and apply a transform to the scene to
// to get it to lie flat on the ground.
arPosition = ARUtilityFunctions.PositionFromMatrix(pose);
arRotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
// Show the pose to Text
showText(myPose);
// Write the pose to txt
if (write)
{
writeText(myPose);
}
// read pivot calibration from txt file
string path = "C:/Users/zhaoz/Desktop/JohnsHopkins/Spring2017/CISII/F200/Pivot Calibration/pointTipNeedle.txt";
Vector4 tipMarker;
tipMarker = readPivotCalibration(path);
// transform the tip position from wrt marker to wrt camera
tipCamera = myPose * tipMarker;
// convert Vector4 tipMarker to 3D
renderEndMarker.x = tipMarker.x;
renderEndMarker.y = tipMarker.y;
renderEndMarker.z = tipMarker.z;
tipPositionCamera.text = "Tip Position: " + tipCamera.ToString();
if (!arVisible)
{
// Marker was hidden but still show the augmentation as it was there
arVisible = true;
}
}
else
{
if (arVisible)
{
// Marker was hidden but still show the augmentation as it was there
timeTrackingLost = timeLastUpdate;
arVisible = false;
}
}
}
}
// Use LateUpdate to be sure the ARMarker has updated before we try and use the transformation.
void LateUpdate()
{
// Local scale is always 1 for now
transform.localScale = Vector3.one;
// Update tracking if we are running in the Player.
if (Application.isPlaying)
{
// Sanity check, make sure we have an AROrigin in parent hierachy.
AROrigin origin = GetOrigin();
if (origin == null)
{
//visible = visibleOrRemain = false;
return;
}
// Sanity check, make sure we have an ARMarker assigned.
ARMarker marker = GetMarker();
if (marker == null)
{
//visible = visibleOrRemain = false;
return;
}
// Note the current time
timeNowSeconds = Time.realtimeSinceStartup;
ARMarker baseMarker = origin.GetBaseMarker();
if (baseMarker != null && marker.Visible)
{
if (!visible)
{
// Marker was hidden but now is visible.
visible = visibleOrRemain = true;
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerFound", marker, SendMessageOptions.DontRequireReceiver);
}
for (int i = 0; i < this.transform.childCount; i++)
{
this.transform.GetChild(i).gameObject.SetActive(true);
}
}
Matrix4x4 pose;
if (marker == baseMarker)
{
// If this marker is the base, no need to take base inverse etc.
pose = origin.transform.localToWorldMatrix;
}
else
{
pose = (origin.transform.localToWorldMatrix * baseMarker.TransformationMatrix.inverse * marker.TransformationMatrix);
}
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.QuaternionFromMatrix(pose);
if (eventReceiver != null)
{
eventReceiver.BroadcastMessage("OnMarkerTracked", marker, SendMessageOptions.DontRequireReceiver);
}
OnMarkerMadeVisible(marker);
}
else
{
OnMarkerLost(marker);
}
} // Application.isPlaying
}
void OnMarkerTracked(ARMarker marker)
{
Vector3 positionTarget = ARUtilityFunctions.PositionFromMatrix(marker.TransformationMatrix);
Vector3 normalPosition = new Vector3(positionTarget.x / (0.5f * positionTarget.z), positionTarget.y / (0.5f * positionTarget.z), markersFX[0].transform.localPosition.z);
int lowCutoffvalue = (int)(((normalPosition.x + 0.9) / 1.8) * 4900) + 100;
int highCutoffvalue = (int)(((normalPosition.x + 0.9) / 1.8) * 1495) + 5;
AudioSource theAudio = null;
if (marker.Tag == markersTags[0])
{
theAudio = audio1;
markersFX[0].SetActive(true);
markersFX[0].transform.localPosition = normalPosition;
}
else if (marker.Tag == markersTags[1])
{
audio1.GetComponent <AudioEchoFilter> ().delay = 30;
audio1.GetComponent <AudioEchoFilter> ().decayRatio = 0.7f;
//theAudio = audio2;
//markersFX[1].SetActive (true);
//markersFX[1].transform.localPosition = normalPosition;
}
else if (marker.Tag == markersTags[2])
{
audio1.GetComponent <SEF_lowpass> ().cutoffFrequency = lowCutoffvalue;
audio2.GetComponent <SEF_lowpass> ().cutoffFrequency = lowCutoffvalue;
}
else if (marker.Tag == markersTags[3])
{
audio1.GetComponent <SEF_highpass> ().cutoffFrequency = highCutoffvalue;
audio2.GetComponent <SEF_highpass> ().cutoffFrequency = highCutoffvalue;
}
if (theAudio != null)
{
float pitch = 0;
if (normalPosition.x > -0.3f && normalPosition.x < 0.3f)
{
pitch = 1f;
if (audio1.GetComponent <AudioEchoFilter> ().enabled)
{
pitch = 0.9f;
}
theAudio.pitch = pitch;
}
else if (normalPosition.x > -0.9f && normalPosition.x < -0.3f)
{
pitch = 0.7f;
theAudio.pitch = pitch;
}
else if (normalPosition.x > 0.3f && normalPosition.x < 0.9f)
{
pitch = 1.4f;
theAudio.pitch = pitch;
}
if (normalPosition.y > -0.2f && normalPosition.y < 0.2f)
{
int a = 0;
}
else if (normalPosition.y > -0.6f && normalPosition.y < -0.2f)
{
int a = 0;
}
else if (normalPosition.y > 0.2f && normalPosition.y < 0.6f)
{
int a = 0;
}
}
}
// Update is called once per frame
void Update()
{
foreach (var item in possiblePieces)
{
// Debug.Log("x: " + (Origin.transform.position.x - item.Item1.transform.position.x) +
//" y: " + (Origin.transform.position.y - item.Item1.transform.position.y) +
//" z: " + (Origin.transform.position.z - item.Item1.transform.position.z));
if (item.Item1.activeInHierarchy)
{
ARMarker myMarker = item.Item1.transform.parent.GetComponent <ARTrackedObject>().GetMarker();
Matrix4x4 pose = myMarker.TransformationMatrix;
Vector3 position = ARUtilityFunctions.PositionFromMatrix(pose);
//Quaternion orientation = ARUtilityFunctions.QuaternionFromMatrix(pose);
//float x = position.x - distanceToOrigin[5].x;
//float y = position.y - distanceToOrigin[5].y;
//float z = position.z - distanceToOrigin[5].z;
//Debug.Log("x: " + x +
//" y: " + y +
//" z: " + z);
var minDistance = float.MaxValue;
int minIndex = -1;
for (int i = 0; i < NUMBER_OF_SQUARES; i++)
{
var distance = Vector3.Distance(position, piecePositionsFromCamera[i]);
if (distance < minDistance)
{
minDistance = distance;
minIndex = i;
}
}
if (minDistance < MaxSlackDistance)
{
if (positions[minIndex].pieceColor != item.Item2)
{
if (minDistance < positions[minIndex].distance)
{
UpdatePosition(item.Item2, minDistance, minIndex);
}
}
else
{
positions[minIndex].dateTime = DateTime.UtcNow;
}
}
}
}
for (int i = 0; i < positions.Count; i++)
{
if (positions[i].pieceColor != PieceColor.None)
{
if ((DateTime.UtcNow - positions[i].dateTime).TotalMilliseconds > TimeToLoseAPieceMS)
{
UpdatePosition(PieceColor.None, float.MaxValue, i);
}
}
}
//for (int i = 0; i < NUMBER_OF_SQUARES; i++)
//{
// if (pieces[i].Item2.MyColor == PieceColor.None)
// {
// bool hintExists = false;
// foreach (var item in neighbours[i])
// {
// if (pieces[item].Item2.MyColor != PieceColor.None)
// {
// hintExists = true;
// hintImages[i].enabled = true;
// }
// }
// if (!hintExists)
// {
// hintImages[i].enabled = false;
// }
// } else if(hintImages[i].enabled == true)
// {
// hintImages[i].enabled = false;
// }
//}
}
public void CalibratePiecePositions()
{
//The piece with the greater x and lower y is going to be the one on the bottom left corner
List <Tuple <GameObject, Vector3> > piecesPositions = new List <Tuple <GameObject, Vector3> >();
foreach (var item in possiblePieces)
{
if (item.Item1.activeInHierarchy)
{
ARMarker myMarker = item.Item1.transform.parent.GetComponent <ARTrackedObject>().GetMarker();
Matrix4x4 pose = myMarker.TransformationMatrix;
Vector3 position = ARUtilityFunctions.PositionFromMatrix(pose);
piecesPositions.Add(new Tuple <GameObject, Vector3>(item.Item1, position));
}
}
if (piecesPositions.Count == 6)
{
//Sort the positions by x
piecesPositions.Sort((x, y) => y.Item2.x.CompareTo(x.Item2.x));
Vector3 bottomLeft, bottomRight, topLeft, topRight, middleLeft, middleRight;
if (piecesPositions[0].Item2.y < piecesPositions[1].Item2.y)
{
bottomLeft = piecesPositions[0].Item2;
bottomRight = piecesPositions[1].Item2;
}
else
{
bottomLeft = piecesPositions[1].Item2;
bottomRight = piecesPositions[0].Item2;
}
if (piecesPositions[4].Item2.y < piecesPositions[5].Item2.y)
{
topLeft = piecesPositions[4].Item2;
topRight = piecesPositions[5].Item2;
}
else
{
topLeft = piecesPositions[5].Item2;
topRight = piecesPositions[4].Item2;
}
if (piecesPositions[2].Item2.y < piecesPositions[3].Item2.y)
{
middleLeft = piecesPositions[2].Item2;
middleRight = piecesPositions[3].Item2;
}
else
{
middleLeft = piecesPositions[3].Item2;
middleRight = piecesPositions[2].Item2;
}
piecePositionsFromCamera.Clear();
piecePositionsFromCamera.Add(bottomLeft);
piecePositionsFromCamera.Add(new Vector3(middleLeft.x, bottomLeft.y, (bottomLeft.z + middleLeft.z) / 2));
piecePositionsFromCamera.Add(new Vector3(middleRight.x, topLeft.y, (topLeft.z + middleRight.z) / 2));
piecePositionsFromCamera.Add(topLeft);
piecePositionsFromCamera.Add(new Vector3(bottomLeft.x, middleLeft.y, (middleLeft.z + bottomLeft.z) / 2));
piecePositionsFromCamera.Add(middleLeft);
piecePositionsFromCamera.Add(new Vector3(middleRight.x, middleLeft.y, (middleLeft.z + middleRight.z) / 2));
piecePositionsFromCamera.Add(new Vector3(topLeft.x, middleLeft.y, (middleLeft.z + topLeft.z) / 2));
piecePositionsFromCamera.Add(new Vector3(bottomRight.x, middleRight.y, (middleRight.z + bottomRight.z) / 2));
piecePositionsFromCamera.Add(new Vector3(middleLeft.x, middleRight.y, (middleRight.z + middleLeft.z) / 2));
piecePositionsFromCamera.Add(middleRight);
piecePositionsFromCamera.Add(new Vector3(topRight.x, middleRight.y, (middleRight.z + topRight.z) / 2));
piecePositionsFromCamera.Add(bottomRight);
piecePositionsFromCamera.Add(new Vector3(middleLeft.x, bottomRight.y, (bottomRight.z + middleLeft.z) / 2));
piecePositionsFromCamera.Add(new Vector3(middleRight.x, topRight.y, (topRight.z + middleRight.z) / 2));
piecePositionsFromCamera.Add(topRight);
SaveCalibration();
}
else
{
Debug.Log("Did not find 6 pieces to calibrate!");
}
}
// 1 - Query for visibility.
// 2 - Determine if visibility state is new.
// 3 - If visible, calculate marker pose.
// 4 - If visible, set marker pose.
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
// 6 - If visibility state is new, set appropriate active state for marker children.
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
protected virtual void LateUpdate()
{
if (!Application.isPlaying)
{
return;
}
float[] matrixRawArray = new float[16];
lock (loadLock) {
if (UID == NO_ID || !PluginFunctions.inited)
{
visible = false;
return;
}
Vector3 storedScale = transform.localScale;
transform.localScale = Vector3.one;
// 1 - Query for visibility.
bool nowVisible = PluginFunctions.arwQueryMarkerTransformation(UID, matrixRawArray);
// 2 - Determine if visibility state is new.
bool notify = (nowVisible != visible);
visible = nowVisible;
// 3 - If visible, calculate marker pose.
if (visible)
{
// Scale the position from ARToolKit units (mm) into Unity units (m).
matrixRawArray[12] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[13] *= UNITY_TO_ARTOOLKIT;
matrixRawArray[14] *= UNITY_TO_ARTOOLKIT;
Matrix4x4 matrixRaw = ARUtilityFunctions.MatrixFromFloatArray(matrixRawArray);
// ARToolKit uses right-hand coordinate system where the marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of +z.
// Need to convert to Unity's left-hand coordinate system where marker lies in x-y plane with right in direction of +x,
// up in direction of +y, and forward (towards viewer) in direction of -z.
transformationMatrix = ARUtilityFunctions.LHMatrixFromRHMatrix(matrixRaw);
// 4 - If visible, set marker pose.
Matrix4x4 pose = ARStaticCamera.Instance.transform.localToWorldMatrix * transformationMatrix;
transform.position = ARUtilityFunctions.PositionFromMatrix(pose);
transform.rotation = ARUtilityFunctions.RotationFromMatrix(pose);
transform.localScale = storedScale;
}
// 5 - If visibility state is new, notify event receivers via "OnMarkerFound" or "OnMarkerLost".
if (notify)
{
if (null != eventReceivers && eventReceivers.Count > 0)
{
if (visible)
{
eventReceivers.ForEach(x => x.OnMarkerFound(this));
}
else
{
eventReceivers.ForEach(x => x.OnMarkerLost(this));
}
}
// 6 - If visibility state is new, set appropriate active state for marker children.
for (int i = 0; i < transform.childCount; ++i)
{
transform.GetChild(i).gameObject.SetActive(visible);
}
}
if (visible)
{
// 7 - If visible, notify event receivers that the marker's pose has been updated via "OnMarkerTracked".
if (null != eventReceivers && eventReceivers.Count > 0)
{
eventReceivers.ForEach(x => x.OnMarkerTracked(this));
}
}
}
}